+ python -m lidar_slam --no-model /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a Lidar SLAM 0.0.13 ===================================================== The recording path: /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a 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 0.00719347 Adjusted end_distance from 9.223372036854776e+18 to 204.37719347 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00719347 meters Centerline goodness [0,1] 0.450053728777133 Centerline is valid? [0, False] SLAMing on 0.03719347 meters Centerline goodness [0,1] 0.450053728777133 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 1.00000000e+00 -6.67334347e-17 1.96392370e-16 2.60902953e-14] [ 5.98324575e-17 1.00000000e+00 -1.46826817e-16 3.04755678e-14] [ 4.53091880e-17 -3.22987019e-16 1.00000000e+00 2.75890425e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06719347 meters Centerline goodness [0,1] 0.450053728777133 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 1.00000000e+00 -1.53142024e-16 -1.18045933e-16 1.64978925e-13] [-1.21793476e-16 1.00000000e+00 -2.89934107e-16 3.41948692e-14] [-6.45520176e-16 -4.80443005e-16 1.00000000e+00 2.75668506e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09719347 meters Centerline goodness [0,1] 0.450053728777133 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 1.00000000e+00 -2.73510318e-17 -1.97435043e-16 1.81743238e-13] [ 3.66218034e-17 1.00000000e+00 4.30224267e-16 3.41950318e-14] [-4.65663330e-16 -4.35331965e-16 1.00000000e+00 1.44662175e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12719347 meters Centerline goodness [0,1] 0.450053728777133 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 1.00000000e+00 1.45767888e-17 8.11658712e-18 1.61315514e-13] [-3.63129621e-17 1.00000000e+00 3.37065519e-16 3.42227874e-14] [-2.39367759e-16 -4.20863362e-16 1.00000000e+00 3.21187680e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15719347 meters Centerline goodness [0,1] 0.450053728777133 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 1.00000000e+00 -3.63070476e-17 2.76930818e-16 1.06470442e-13] [ 9.06127964e-17 1.00000000e+00 9.21128002e-16 5.50116051e-14] [-1.24311137e-16 -7.85906477e-17 1.00000000e+00 3.30513452e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18719347 meters Centerline goodness [0,1] 0.4575950166252788 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:0.01 [[ 9.99983543e-01 -7.47571005e-04 5.68809595e-03 3.60098039e-02] [ 7.42812950e-04 9.99999373e-01 8.38559992e-04 -7.66004648e-02] [-5.68871927e-03 -8.34321000e-04 9.99983471e-01 1.34133150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21719347 meters Centerline goodness [0,1] 0.44946497241264005 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.19, Z:-0.01 [[ 0.99850095 0.05099809 -0.01987582 0.02460446] [-0.05087436 0.99868271 0.00668216 -0.1855475 ] [ 0.02019042 -0.00566098 0.99978013 -0.0051473 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24719347 meters Centerline goodness [0,1] 0.4332916145181477 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.01 [[ 0.99415704 0.09759325 -0.04612315 0.0947841 ] [-0.09693589 0.99515738 0.0162856 -0.24008139] [ 0.04748915 -0.01171946 0.998803 -0.01374798] [ 0. 0. 0. 1. ]] SLAMing on 0.27719347 meters Centerline goodness [0,1] 0.4389848812095032 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.27, Z:-0.01 [[ 0.99640979 0.05868594 -0.06102045 0.19627731] [-0.05818653 0.99825633 0.00993089 -0.26596771] [ 0.06149685 -0.00634467 0.99808711 -0.0129447 ] [ 0. 0. 0. 1. ]] SLAMing on 0.30719346999999997 meters Centerline goodness [0,1] 0.4478785357737105 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.27, Z:-0.02 [[ 0.99485944 0.0648869 -0.07774569 0.28192104] [-0.06458542 0.99789173 0.00638867 -0.26909552] [ 0.07799632 -0.00133459 0.99695275 -0.02039248] [ 0. 0. 0. 1. ]] SLAMing on 0.33719346999999994 meters Centerline goodness [0,1] 0.5150717003219198 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.30, Z:-0.02 [[ 0.99039485 0.10284828 -0.09241355 0.34524799] [-0.10188517 0.99468167 0.01509254 -0.30112425] [ 0.09347431 -0.005532 0.99560632 -0.02159994] [ 0. 0. 0. 1. ]] SLAMing on 0.36719346999999997 meters Centerline goodness [0,1] 0.6410491639214377 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.30, Z:-0.02 [[ 0.98693712 0.13212539 -0.09218458 0.40265316] [-0.13192765 0.99122491 0.00826259 -0.30328409] [ 0.09246735 0.00400704 0.99570765 -0.01639933] [ 0. 0. 0. 1. ]] SLAMing on 0.39719347 meters Centerline goodness [0,1] 0.725639855643589 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.32, Z:-0.01 [[ 0.9890257 0.11638946 -0.0910036 0.44134816] [-0.11660687 0.99317379 0.00294238 -0.32451228] [ 0.09072485 0.00770156 0.99584622 -0.00863753] [ 0. 0. 0. 1. ]] SLAMing on 0.42719346999999996 meters Centerline goodness [0,1] 0.7118187283620457 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.34, Z:-0.01 [[ 0.98802816 0.11968084 -0.09734914 0.45597304] [-0.11991314 0.99277828 0.00348209 -0.33735567] [ 0.09706285 0.00823304 0.9952442 -0.01035419] [ 0. 0. 0. 1. ]] SLAMing on 0.45719346999999994 meters Centerline goodness [0,1] 0.7151108433234298 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.35, Z:-0.01 [[ 0.9886304 0.11275933 -0.0994749 0.46134112] [-0.11349647 0.99353683 -0.00176433 -0.3460739 ] [ 0.09863303 0.01303432 0.99503851 -0.01364863] [ 0. 0. 0. 1. ]] SLAMing on 0.48719346999999996 meters Centerline goodness [0,1] 0.7219907551354601 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.34, Z:-0.02 [[ 0.98683925 0.13061891 -0.09532573 0.48063698] [-0.13045479 0.99142215 0.00797867 -0.33627383] [ 0.09555021 0.00456204 0.99541416 -0.01555163] [ 0. 0. 0. 1. ]] SLAMing on 0.51719347 meters Centerline goodness [0,1] 0.7659750865338777 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.33, Z:-0.01 [[ 0.98811846 0.12393362 -0.09089752 0.48828803] [-0.12531244 0.99207088 -0.00959983 -0.33266514] [ 0.08898704 0.02087636 0.99581398 -0.01359163] [ 0. 0. 0. 1. ]] SLAMing on 0.5471934700000001 meters Centerline goodness [0,1] 0.743657658403344 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.33, Z:-0.02 [[ 0.98998556 0.10902382 -0.08967937 0.49429896] [-0.11009854 0.99389524 -0.00711097 -0.32971371] [ 0.08835663 0.01691333 0.9959453 -0.01816082] [ 0. 0. 0. 1. ]] SLAMing on 0.57719347 meters Centerline goodness [0,1] 0.7032352880296413 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.32, Z:-0.02 [[ 0.99130553 0.09580572 -0.09019202 0.50058277] [-0.09642605 0.99533692 -0.00253579 -0.32436789] [ 0.0895285 0.0112106 0.99592117 -0.02121526] [ 0. 0. 0. 1. ]] SLAMing on 0.60719347 meters Centerline goodness [0,1] 0.6939834452085821 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:-0.02 [[ 0.99271447 0.08391582 -0.08646448 0.51114473] [-0.08485764 0.99636657 -0.00726874 -0.3201357 ] [ 0.08554036 0.01455295 0.99622842 -0.02032662] [ 0. 0. 0. 1. ]] SLAMing on 0.63719347 meters Centerline goodness [0,1] 0.7071460877431026 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.32, Z:-0.01 [[ 0.99325613 0.08354871 -0.08038574 0.51763978] [-0.08458097 0.99637116 -0.00951717 -0.31565835] [ 0.07929889 0.0162521 0.99671839 -0.01045143] [ 0. 0. 0. 1. ]] SLAMing on 0.66719347 meters Centerline goodness [0,1] 0.6998647485552687 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.32, Z:-0.01 [[ 0.9930665 0.08243054 -0.08381008 0.52512354] [-0.08305725 0.9965367 -0.00401288 -0.31600835] [ 0.08318903 0.01094609 0.99647367 -0.00669802] [ 0. 0. 0. 1. ]] SLAMing on 0.69719347 meters Centerline goodness [0,1] 0.7375618331221128 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.32, Z:-0.01 [[ 0.99395572 0.0799966 -0.07518353 0.53187714] [-0.08012941 0.99678368 0.00125317 -0.32385937] [ 0.07504197 0.00477882 0.99716893 -0.00786971] [ 0. 0. 0. 1. ]] SLAMing on 0.72719347 meters Centerline goodness [0,1] 0.7650016350555919 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.33, Z:-0.01 [[ 9.93340317e-01 8.68287296e-02 -7.57349774e-02 5.38428535e-01] [-8.65218231e-02 9.96222987e-01 7.33031490e-03 -3.28823585e-01] [ 7.60854074e-02 -7.28769013e-04 9.97101038e-01 -1.32319778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.75719347 meters Centerline goodness [0,1] 0.773545536371819 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.34, Z:-0.02 [[ 0.99173505 0.09797163 -0.08284413 0.54739205] [-0.09795593 0.99518162 0.00426383 -0.34178564] [ 0.08286269 0.00388649 0.9965534 -0.02154969] [ 0. 0. 0. 1. ]] SLAMing on 0.7871934700000001 meters Centerline goodness [0,1] 0.8005349012882547 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:-0.03 [[ 0.99148154 0.10042816 -0.08293699 0.5507866 ] [-0.10017124 0.9949437 0.00726366 -0.35188007] [ 0.08324711 0.00110611 0.99652832 -0.0250326 ] [ 0. 0. 0. 1. ]] SLAMing on 0.81719347 meters Centerline goodness [0,1] 0.8208179650724431 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.37, Z:-0.02 [[ 0.99037487 0.10860483 -0.08580569 0.55353748] [-0.10800856 0.99408258 0.01157512 -0.36941058] [ 0.08655506 -0.00219596 0.99624465 -0.02160008] [ 0. 0. 0. 1. ]] SLAMing on 0.84719347 meters Centerline goodness [0,1] 0.8028464816589523 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.40, Z:-0.03 [[ 0.99158203 0.09207223 -0.09103727 0.56057701] [-0.09145524 0.99574915 0.01093472 -0.40140122] [ 0.09165707 -0.00251683 0.99578745 -0.0263437 ] [ 0. 0. 0. 1. ]] SLAMing on 0.87719347 meters Centerline goodness [0,1] 0.7890855457227138 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.42, Z:-0.03 [[ 0.99259023 0.08141553 -0.09020056 0.55790081] [-0.08067284 0.99667013 0.01185532 -0.42289336] [ 0.09086541 -0.00449074 0.99585306 -0.02545061] [ 0. 0. 0. 1. ]] SLAMing on 0.90719347 meters Centerline goodness [0,1] 0.8027809774559815 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.44, Z:-0.03 [[ 0.99196238 0.09046021 -0.08847367 0.55226893] [-0.08927555 0.99585732 0.01726476 -0.44380612] [ 0.08966893 -0.00922746 0.99592888 -0.02560164] [ 0. 0. 0. 1. ]] SLAMing on 0.93719347 meters Centerline goodness [0,1] 0.8027809774559815 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.44, Z:-0.03 [[ 0.99196238 0.09046021 -0.08847367 0.55226893] [-0.08927555 0.99585732 0.01726476 -0.44380612] [ 0.08966893 -0.00922746 0.99592888 -0.02560164] [ 0. 0. 0. 1. ]] SLAMing on 0.96719347 meters Centerline goodness [0,1] 0.8171611042439225 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.45, Z:-0.03 [[ 9.90731129e-01 1.06880872e-01 -8.38350087e-02 5.46375332e-01] [-1.06431662e-01 9.94271505e-01 9.82221287e-03 -4.54487821e-01] [ 8.44045670e-02 -8.08472756e-04 9.96431240e-01 -2.96318436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99719347 meters Centerline goodness [0,1] 0.8300026810204376 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.46, Z:-0.03 [[ 0.99049199 0.10955623 -0.08320488 0.54377442] [-0.10885988 0.99397374 0.01287399 -0.46112136] [ 0.08411389 -0.00369391 0.9964493 -0.02813701] [ 0. 0. 0. 1. ]] SLAMing on 1.02719347 meters Centerline goodness [0,1] 0.8283141240137151 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.47, Z:-0.03 [[ 0.99107206 0.10466178 -0.08259589 0.54227437] [-0.10420982 0.99450729 0.00977604 -0.47419089] [ 0.08316539 -0.00108145 0.99653517 -0.02998112] [ 0. 0. 0. 1. ]] SLAMing on 1.05719347 meters Centerline goodness [0,1] 0.8363456505162501 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.48, Z:-0.03 [[ 0.99043343 0.11143197 -0.08139128 0.5396898 ] [-0.11041026 0.99374135 0.0169619 -0.47988563] [ 0.08277198 -0.0078132 0.99653788 -0.02833879] [ 0. 0. 0. 1. ]] SLAMing on 1.08719347 meters Centerline goodness [0,1] 0.8122587968217934 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.48, Z:-0.03 [[ 0.99007943 0.11732178 -0.07731965 0.52976225] [-0.11629255 0.99305731 0.0176978 -0.48174655] [ 0.07885918 -0.00853053 0.99684927 -0.02880722] [ 0. 0. 0. 1. ]] SLAMing on 1.11719347 meters Centerline goodness [0,1] 0.8449170124481328 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.49, Z:-0.04 [[ 0.99323016 0.09184145 -0.07112665 0.51768259] [-0.09085502 0.99571921 0.0169887 -0.49000258] [ 0.07238244 -0.01041148 0.99732261 -0.03722137] [ 0. 0. 0. 1. ]] SLAMing on 1.14719347 meters Centerline goodness [0,1] 0.8281023259670799 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.50, Z:-0.05 [[ 0.99488314 0.07175083 -0.07112909 0.51645006] [-0.07056274 0.99732483 0.01908077 -0.49552178] [ 0.07230787 -0.01396407 0.9972846 -0.05155845] [ 0. 0. 0. 1. ]] SLAMing on 1.17719347 meters Centerline goodness [0,1] 0.8177936091321918 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.49, Z:-0.07 [[ 0.99361818 0.08560331 -0.07345061 0.51597941] [-0.08464212 0.99628123 0.01610633 -0.48989234] [ 0.07455622 -0.00978653 0.99716879 -0.06605849] [ 0. 0. 0. 1. ]] SLAMing on 1.20719347 meters Centerline goodness [0,1] 0.7082865110084489 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.47, Z:-0.06 [[ 0.99030712 0.12429006 -0.06199837 0.50105254] [-0.12445866 0.99222413 0.00114999 -0.47021765] [ 0.06165921 0.00657739 0.99807559 -0.06355582] [ 0. 0. 0. 1. ]] SLAMing on 1.23719347 meters Centerline goodness [0,1] 0.6648560452724194 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.46, Z:-0.06 [[ 9.90484886e-01 1.29066032e-01 -4.77666163e-02 4.97350650e-01] [-1.29196601e-01 9.91618934e-01 3.56742859e-04 -4.63732432e-01] [ 4.74123246e-02 5.81793605e-03 9.98858460e-01 -6.23957992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26719347 meters Centerline goodness [0,1] 0.6766179584477662 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.46, Z:-0.07 [[ 0.98997332 0.13074266 -0.0534714 0.49085767] [-0.13068437 0.99141335 0.00460013 -0.45911329] [ 0.05361369 0.00243387 0.99855879 -0.07118269] [ 0. 0. 0. 1. ]] SLAMing on 1.29719347 meters Centerline goodness [0,1] 0.6333784487246226 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.45, Z:-0.06 [[ 0.98997896 0.137573 -0.03186432 0.4703334 ] [-0.13767545 0.99047686 -0.00103337 -0.45221465] [ 0.03141871 0.00540995 0.99949167 -0.06478983] [ 0. 0. 0. 1. ]] SLAMing on 1.3271934699999999 meters Centerline goodness [0,1] 0.5955716034779721 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.44, Z:-0.06 [[ 0.98894259 0.14628963 -0.02432888 0.45700079] [-0.14638199 0.98922601 -0.00205036 -0.44428378] [ 0.02376682 0.005589 0.99970191 -0.06161071] [ 0. 0. 0. 1. ]] SLAMing on 1.35719347 meters Centerline goodness [0,1] 0.5487033984937308 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.43, Z:-0.07 [[ 0.98674269 0.16117739 -0.01899234 0.44050487] [-0.16136698 0.98685432 -0.00890254 -0.43336597] [ 0.01730778 0.01184925 0.99977999 -0.06736196] [ 0. 0. 0. 1. ]] SLAMing on 1.38719347 meters Centerline goodness [0,1] 0.5482403039285266 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.42, Z:-0.06 [[ 0.98730445 0.15854086 -0.0097321 0.42336012] [-0.15860193 0.98732524 -0.00585694 -0.42357868] [ 0.00868018 0.00732611 0.99993549 -0.06237894] [ 0. 0. 0. 1. ]] SLAMing on 1.41719347 meters Centerline goodness [0,1] 0.5718954933059566 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.42, Z:-0.07 [[ 0.98839773 0.15181656 -0.00465493 0.41625332] [-0.1518417 0.98838879 -0.00562946 -0.41532207] [ 0.00374624 0.00627096 0.99997332 -0.06590415] [ 0. 0. 0. 1. ]] SLAMing on 1.44719347 meters Centerline goodness [0,1] 0.6052929581009101 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.41, Z:-0.08 [[ 0.99105242 0.13345621 -0.00212984 0.40729936] [-0.13346606 0.99103828 -0.00547162 -0.4075466 ] [ 0.00138053 0.00570692 0.99998276 -0.07586144] [ 0. 0. 0. 1. ]] SLAMing on 1.47719347 meters Centerline goodness [0,1] 0.6128593831677993 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.39, Z:-0.08 [[ 9.91021435e-01 1.33703081e-01 -4.21134799e-05 4.09928968e-01] [-1.33702622e-01 9.91017100e-01 -2.95228177e-03 -3.86753570e-01] [-3.52993990e-04 2.93140520e-03 9.99995641e-01 -7.96277279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.50719347 meters Centerline goodness [0,1] 0.6047474641848792 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.37, Z:-0.08 [[ 0.9906894 0.13560494 -0.01207502 0.41292899] [-0.13570402 0.99071872 -0.00779944 -0.37101456] [ 0.0109053 0.00936545 0.99989668 -0.08385899] [ 0. 0. 0. 1. ]] SLAMing on 1.53719347 meters Centerline goodness [0,1] 0.5853648381388571 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.34, Z:-0.07 [[ 0.99006636 0.13921948 0.01966066 0.37812345] [-0.13875329 0.99005122 -0.02336886 -0.33670068] [-0.02271846 0.02040874 0.99953357 -0.06995276] [ 0. 0. 0. 1. ]] SLAMing on 1.56719347 meters Centerline goodness [0,1] 0.5924214032896107 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.30, Z:-0.07 [[ 0.99022188 0.1369008 0.0268105 0.36471866] [-0.13635459 0.99043221 -0.02124763 -0.30122799] [-0.0294628 0.01738414 0.9994147 -0.06766222] [ 0. 0. 0. 1. ]] SLAMing on 1.59719347 meters Centerline goodness [0,1] 0.6029626234426435 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.28, Z:-0.08 [[ 0.9912953 0.12918902 0.02537362 0.36027722] [-0.12886548 0.9915632 -0.01400415 -0.28163329] [-0.02696873 0.01061247 0.99957994 -0.07623878] [ 0. 0. 0. 1. ]] SLAMing on 1.62719347 meters Centerline goodness [0,1] 0.5977896642870523 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.08 [[ 0.99106612 0.13127695 0.02354357 0.36580057] [-0.13076889 0.99116956 -0.02196377 -0.26265009] [-0.026219 0.01868878 0.99948151 -0.08383122] [ 0. 0. 0. 1. ]] SLAMing on 1.65719347 meters Centerline goodness [0,1] 0.6067196141211693 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.25, Z:-0.09 [[ 0.99127107 0.13122431 0.0127222 0.36952067] [-0.13096837 0.99120036 -0.01921283 -0.25210335] [-0.01513144 0.01737891 0.99973447 -0.09213155] [ 0. 0. 0. 1. ]] SLAMing on 1.68719347 meters Centerline goodness [0,1] 0.5916689331966442 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.24, Z:-0.11 [[ 0.99163294 0.12906101 -0.00271271 0.37062179] [-0.12907438 0.9916195 -0.00552868 -0.24200921] [ 0.00197644 0.00583256 0.99998104 -0.10516837] [ 0. 0. 0. 1. ]] SLAMing on 1.71719347 meters Centerline goodness [0,1] 0.613384224985844 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.24, Z:-0.11 [[ 0.99224919 0.12421734 -0.00340646 0.37147951] [-0.12424522 0.99220313 -0.00980197 -0.24244747] [ 0.00216233 0.01014924 0.99994616 -0.10610713] [ 0. 0. 0. 1. ]] SLAMing on 1.74719347 meters Centerline goodness [0,1] 0.7675984407896108 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:-0.12 [[ 0.99737311 0.07227029 0.00488798 0.32455982] [-0.07217167 0.99722974 -0.01800287 0.00906483] [-0.00617552 0.01760281 0.99982599 -0.1212414 ] [ 0. 0. 0. 1. ]] SLAMing on 1.77719347 meters Centerline goodness [0,1] 0.8949353448275862 Centerline is valid? [False, False] Translation: X:0.28, Y:0.17, Z:-0.11 [[ 0.99869498 0.04049458 0.03112125 0.2798688 ] [-0.039534 0.99874079 -0.0308852 0.16816153] [-0.03233274 0.02961454 0.99903832 -0.10848025] [ 0. 0. 0. 1. ]] SLAMing on 1.8071934699999999 meters Centerline goodness [0,1] 0.8595609379748907 Centerline is valid? [False, False] Translation: X:0.31, Y:0.23, Z:-0.09 [[ 0.99928876 0.02763034 0.02566205 0.31104785] [-0.02696328 0.9992986 -0.02598619 0.2311361 ] [-0.02636206 0.02527578 0.99933287 -0.09478523] [ 0. 0. 0. 1. ]] SLAMing on 1.8371934699999999 meters Centerline goodness [0,1] 0.9006583881990166 Centerline is valid? [False, False] Translation: X:0.18, Y:0.17, Z:-0.07 [[ 0.9987386 0.04323357 0.02553547 0.17960307] [-0.04095616 0.9956385 -0.08382464 0.17365382] [-0.02904813 0.08267307 0.99615329 -0.06910115] [ 0. 0. 0. 1. ]] SLAMing on 1.86719347 meters Centerline goodness [0,1] 0.8748640309010589 Centerline is valid? [False, False] Translation: X:0.21, Y:0.22, Z:-0.07 [[ 0.99975511 0.01892906 0.01146311 0.2100722 ] [-0.01797683 0.99678054 -0.078137 0.2199255 ] [-0.01290527 0.0779118 0.99687673 -0.07183377] [ 0. 0. 0. 1. ]] SLAMing on 1.89719347 meters Centerline goodness [0,1] 0.8794347060303614 Centerline is valid? [False, False] Translation: X:0.16, Y:0.10, Z:-0.08 [[ 0.99751228 0.06795405 0.01874856 0.1569616 ] [-0.06655494 0.99551682 -0.06720638 0.09865225] [-0.02323145 0.06579138 0.99756293 -0.08415017] [ 0. 0. 0. 1. ]] SLAMing on 1.92719347 meters Centerline goodness [0,1] 0.834639416546507 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:-0.09 [[ 0.99689451 0.07689297 0.01699424 0.16552671] [-0.075625 0.99497107 -0.06567667 0.04616141] [-0.02195885 0.06418753 0.99769623 -0.09428978] [ 0. 0. 0. 1. ]] SLAMing on 1.95719347 meters Centerline goodness [0,1] 0.890054868253604 Centerline is valid? [False, False] Translation: X:0.16, Y:0.11, Z:-0.09 [[ 0.99789104 0.06256432 0.01729684 0.16066756] [-0.06151753 0.9965579 -0.0555693 0.10904992] [-0.02071396 0.05438805 0.998305 -0.09484679] [ 0. 0. 0. 1. ]] SLAMing on 1.98719347 meters Centerline goodness [0,1] 0.8879443909384029 Centerline is valid? [False, False] Translation: X:0.15, Y:0.19, Z:-0.10 [[ 9.99963654e-01 -8.51235519e-03 -4.80499889e-04 1.53002603e-01] [ 8.47489849e-03 9.98556949e-01 -5.30301373e-02 1.87721977e-01] [ 9.31217867e-04 5.30241376e-02 9.98592797e-01 -9.86741979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0171934699999996 meters Centerline goodness [0,1] 0.8712604217753801 Centerline is valid? [False, False] Translation: X:0.17, Y:0.22, Z:-0.10 [[ 0.99989539 0.01393337 -0.00388308 0.17429327] [-0.01407356 0.99914876 -0.03877742 0.22005838] [ 0.00333948 0.03882802 0.99924033 -0.0969187 ] [ 0. 0. 0. 1. ]] SLAMing on 2.04719347 meters Centerline goodness [0,1] 0.8699966773729095 Centerline is valid? [False, False] Translation: X:0.18, Y:0.21, Z:-0.10 [[ 0.99980676 0.01918303 -0.00429606 0.17730653] [-0.01931115 0.9992985 -0.03208715 0.21485339] [ 0.00367752 0.03216391 0.99947584 -0.1009842 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0771934699999997 meters Centerline goodness [0,1] 0.8920871111882348 Centerline is valid? [False, False] Translation: X:0.18, Y:0.21, Z:-0.10 [[ 0.99956543 0.02919181 -0.00409629 0.17673324] [-0.02927511 0.999329 -0.02201166 0.20827649] [ 0.00345099 0.02212201 0.99974932 -0.10009139] [ 0. 0. 0. 1. ]] SLAMing on 2.10719347 meters Centerline goodness [0,1] 0.9032742819649925 Centerline is valid? [False, False] Translation: X:0.18, Y:0.20, Z:-0.10 [[ 0.99939034 0.03469404 -0.00390861 0.17557489] [-0.03475334 0.99926312 -0.01629201 0.19971613] [ 0.0033405 0.01641792 0.99985964 -0.09854654] [ 0. 0. 0. 1. ]] SLAMing on 2.1371934699999997 meters Centerline goodness [0,1] 0.9079074455129551 Centerline is valid? [False, False] Translation: X:0.18, Y:0.18, Z:-0.11 [[ 0.99936943 0.03523539 -0.00438391 0.17879846] [-0.03528247 0.99931495 -0.01117033 0.17794594] [ 0.00398731 0.01131796 0.999928 -0.10525725] [ 0. 0. 0. 1. ]] SLAMing on 2.16719347 meters Centerline goodness [0,1] 0.901352028042063 Centerline is valid? [False, False] Translation: X:0.19, Y:0.15, Z:-0.11 [[ 0.99949445 0.03166824 0.00282228 0.18704252] [-0.03166422 0.9994975 -0.00145713 0.15073266] [-0.002867 0.00136703 0.99999496 -0.11263226] [ 0. 0. 0. 1. ]] SLAMing on 2.1971934699999998 meters Centerline goodness [0,1] 0.9002682526149431 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.11 [[ 0.9996155 0.02754757 0.00316086 0.18594991] [-0.0275387 0.99961677 -0.00281568 0.12911135] [-0.00323722 0.00272755 0.99999104 -0.11301312] [ 0. 0. 0. 1. ]] SLAMing on 2.2271934699999996 meters Centerline goodness [0,1] 0.9014698217450224 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.12 [[ 9.99711661e-01 2.39988919e-02 8.04858065e-04 1.90402112e-01] [-2.40007158e-02 9.99709206e-01 2.33866159e-03 1.02727633e-01] [-7.48498731e-04 -2.35730443e-03 9.99996941e-01 -1.18682030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.25719347 meters Centerline goodness [0,1] 0.8993691048785059 Centerline is valid? [False, False] Translation: X:0.19, Y:0.09, Z:-0.12 [[ 9.99799363e-01 2.00302192e-02 1.52344561e-04 1.91666145e-01] [-2.00302147e-02 9.99799375e-01 -3.14495421e-05 9.09637163e-02] [-1.52943938e-04 2.83917379e-05 9.99999988e-01 -1.19057262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2871934699999996 meters Centerline goodness [0,1] 0.8958354947813998 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.12 [[ 0.9999496 0.00965036 -0.00276914 0.19481314] [-0.00964116 0.99994803 0.00331403 0.06956226] [ 0.00280098 -0.00328716 0.99999067 -0.11940466] [ 0. 0. 0. 1. ]] SLAMing on 2.31719347 meters Centerline goodness [0,1] 0.8952335319361693 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.12 [[ 9.99994783e-01 7.06149143e-05 -3.22935561e-03 1.94261238e-01] [-6.27851273e-05 9.99997059e-01 2.42460347e-03 5.58099922e-02] [ 3.22951732e-03 -2.42438807e-03 9.99991846e-01 -1.24055702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3471934699999997 meters Centerline goodness [0,1] 0.8945007718946886 Centerline is valid? [False, False] Translation: X:0.19, Y:0.05, Z:-0.12 [[ 0.99999454 -0.00165692 -0.00285738 0.19212536] [ 0.00166191 0.9999971 0.00174535 0.05326914] [ 0.00285448 -0.00175009 0.99999439 -0.12232901] [ 0. 0. 0. 1. ]] SLAMing on 2.37719347 meters Centerline goodness [0,1] 0.8988033190176374 Centerline is valid? [False, False] Translation: X:0.19, Y:0.06, Z:-0.12 [[ 9.99993538e-01 -2.15944954e-03 -2.87430283e-03 1.92664713e-01] [ 2.16061741e-03 9.99997585e-01 4.03268570e-04 5.80087488e-02] [ 2.87342505e-03 -4.09476232e-04 9.99995788e-01 -1.22844530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4071934699999997 meters Centerline goodness [0,1] 0.8968348231960159 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.13 [[ 0.99999266 0.00107182 -0.00367931 0.19684493] [-0.00106493 0.99999767 0.00187597 0.06622242] [ 0.00368131 -0.00187204 0.99999147 -0.12633432] [ 0. 0. 0. 1. ]] SLAMing on 2.4371934699999995 meters Centerline goodness [0,1] 0.898417134157786 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:-0.12 [[ 0.99998734 0.00450683 -0.00223916 0.19527555] [-0.00451474 0.99998353 -0.0035432 0.08400513] [ 0.00222316 0.00355326 0.99999122 -0.12225531] [ 0. 0. 0. 1. ]] SLAMing on 2.4671934699999998 meters Centerline goodness [0,1] 0.8990281564106299 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:-0.12 [[ 0.99994006 0.01075154 -0.00207004 0.19420784] [-0.01075588 0.99993995 -0.0020979 0.09726378] [ 0.00204736 0.00212004 0.99999566 -0.11804834] [ 0. 0. 0. 1. ]] SLAMing on 2.4971934699999996 meters Centerline goodness [0,1] 0.901719389032635 Centerline is valid? [False, False] Translation: X:0.19, Y:0.11, Z:-0.11 [[ 9.99853668e-01 1.70834623e-02 -8.93448597e-04 1.91491184e-01] [-1.70847877e-02 9.99852923e-01 -1.49745097e-03 1.10350604e-01] [ 8.67735544e-04 1.51249622e-03 9.99998480e-01 -1.12161321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52719347 meters Centerline goodness [0,1] 0.9036967614287201 Centerline is valid? [False, False] Translation: X:0.19, Y:0.12, Z:-0.11 [[ 9.99783488e-01 2.07994121e-02 6.01852770e-04 1.89161229e-01] [-2.07968973e-02 9.99776036e-01 -3.92008332e-03 1.22085152e-01] [-6.83253405e-04 3.90671791e-03 9.99992135e-01 -1.06633208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5571934699999996 meters Centerline goodness [0,1] 0.9056028724114896 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.11 [[ 9.99693398e-01 2.47529969e-02 6.32547898e-04 1.89748639e-01] [-2.47520254e-02 9.99692496e-01 -1.50004642e-03 1.27614205e-01] [-6.69484031e-04 1.48392966e-03 9.99998675e-01 -1.06981113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58719347 meters Centerline goodness [0,1] 0.9081558138079242 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.11 [[ 9.99691366e-01 2.48402379e-02 3.68602978e-04 1.90614104e-01] [-2.48393948e-02 9.99689168e-01 -2.13835759e-03 1.30048494e-01] [-4.21605716e-04 2.12854175e-03 9.99997646e-01 -1.07416220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6171934699999997 meters Centerline goodness [0,1] 0.9060082167212362 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.11 [[ 9.99668518e-01 2.57459447e-02 9.45016041e-06 1.92933717e-01] [-2.57458764e-02 9.99666587e-01 -1.96569027e-03 1.32618009e-01] [-6.00555626e-05 1.96479538e-03 9.99998068e-01 -1.09439526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6471934699999995 meters Centerline goodness [0,1] 0.9050540155765849 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.11 [[ 9.99658833e-01 2.61192565e-02 -5.20409531e-05 1.93940574e-01] [-2.61193080e-02 9.99657144e-01 -1.83750602e-03 1.33117212e-01] [ 4.02881955e-06 1.83823839e-03 9.99998310e-01 -1.10610121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6771934699999997 meters Centerline goodness [0,1] 0.9040430476748812 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.11 [[ 9.99736656e-01 2.29447885e-02 -3.95318595e-04 1.94789504e-01] [-2.29466279e-02 9.99721336e-01 -5.54094479e-03 1.33413384e-01] [ 2.68072628e-04 5.54855684e-03 9.99984571e-01 -1.10938172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7071934699999995 meters Centerline goodness [0,1] 0.9019048610388258 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-0.11 [[ 0.99981543 0.01842483 0.00544403 0.20351215] [-0.01843154 0.99982942 0.00118406 0.12562611] [-0.00542128 -0.00128418 0.99998448 -0.11372896] [ 0. 0. 0. 1. ]] SLAMing on 2.73719347 meters Centerline goodness [0,1] 0.9063762442213985 Centerline is valid? [False, False] Translation: X:0.20, Y:0.11, Z:-0.11 [[ 0.99991201 0.01204745 0.00555204 0.20191529] [-0.01203021 0.99992275 -0.00312687 0.11431413] [-0.00558929 0.0030598 0.9999797 -0.11232094] [ 0. 0. 0. 1. ]] SLAMing on 2.7671934699999996 meters Centerline goodness [0,1] 0.9070393720512714 Centerline is valid? [False, False] Translation: X:0.20, Y:0.11, Z:-0.11 [[ 0.9999431 0.00920134 0.00539744 0.20292661] [-0.00917731 0.99994794 -0.0044606 0.10756533] [-0.0054382 0.00441081 0.99997549 -0.11359366] [ 0. 0. 0. 1. ]] SLAMing on 2.79719347 meters Centerline goodness [0,1] 0.9028823627844712 Centerline is valid? [False, False] Translation: X:0.21, Y:0.09, Z:-0.12 [[ 9.99968926e-01 6.96382719e-03 3.69478164e-03 2.06114477e-01] [-6.96195581e-03 9.99975631e-01 -5.19112371e-04 9.33709780e-02] [-3.69830661e-03 4.93373334e-04 9.99993040e-01 -1.18722494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8271934699999997 meters Centerline goodness [0,1] 0.9028823627844712 Centerline is valid? [False, False] Translation: X:0.21, Y:0.09, Z:-0.12 [[ 9.99968926e-01 6.96382719e-03 3.69478164e-03 2.06114477e-01] [-6.96195581e-03 9.99975631e-01 -5.19112371e-04 9.33709780e-02] [-3.69830661e-03 4.93373334e-04 9.99993040e-01 -1.18722494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85719347 meters Centerline goodness [0,1] 0.9035775340866448 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.12 [[ 0.99997652 0.00646346 0.00227513 0.21064488] [-0.00646769 0.99997736 0.00185905 0.07959543] [-0.00226306 -0.00187372 0.99999568 -0.12251983] [ 0. 0. 0. 1. ]] SLAMing on 2.8871934699999997 meters Centerline goodness [0,1] 0.9059144828736423 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.12 [[ 9.99988965e-01 4.41676794e-03 1.60039005e-03 2.13536583e-01] [-4.41774403e-03 9.99990058e-01 6.06888593e-04 7.32612579e-02] [-1.59769365e-03 -6.13952010e-04 9.99998535e-01 -1.24755553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9171934699999995 meters Centerline goodness [0,1] 0.9039913250198106 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.13 [[ 9.99991343e-01 4.07273692e-03 8.52931321e-04 2.18147106e-01] [-4.07390121e-03 9.99990766e-01 1.36778975e-03 5.90839401e-02] [-8.47352798e-04 -1.37125266e-03 9.99998701e-01 -1.28463631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9471934699999998 meters Centerline goodness [0,1] 0.902934773507494 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.13 [[ 0.99999825 0.00113553 0.00148697 0.21537781] [-0.0011376 0.99999838 0.00139416 0.04549501] [-0.00148539 -0.00139585 0.99999792 -0.12620983] [ 0. 0. 0. 1. ]] SLAMing on 2.9771934699999996 meters Centerline goodness [0,1] 0.9013362889228131 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 9.99996704e-01 -2.12258290e-03 1.44418592e-03 2.14919413e-01] [ 2.12348974e-03 9.99997549e-01 -6.26684505e-04 4.01413034e-02] [-1.44285219e-03 6.29749154e-04 9.99998761e-01 -1.25451224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00719347 meters Centerline goodness [0,1] 0.8974567607602595 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.12 [[ 0.99995078 -0.00969284 0.00211988 0.21188745] [ 0.00970306 0.99994107 -0.00486845 0.02963553] [-0.00207257 0.00488878 0.9999859 -0.12285155] [ 0. 0. 0. 1. ]] SLAMing on 3.0371934699999996 meters Centerline goodness [0,1] 0.8954930871726328 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.12 [[ 0.99986055 -0.01651692 0.0024626 0.20991089] [ 0.01654066 0.99981364 -0.009954 0.02094572] [-0.00229773 0.00999334 0.99994743 -0.12089097] [ 0. 0. 0. 1. ]] SLAMing on 3.06719347 meters Centerline goodness [0,1] 0.8969438521677328 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.12 [[ 0.99992709 -0.01183957 0.00237454 0.2104365 ] [ 0.01185009 0.99991981 -0.00446611 0.01562966] [-0.00232148 0.00449392 0.99998721 -0.12156382] [ 0. 0. 0. 1. ]] SLAMing on 3.0971934699999997 meters Centerline goodness [0,1] 0.9012918391545839 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.12 [[ 9.99975760e-01 -6.72527985e-03 1.80286617e-03 2.12537481e-01] [ 6.72459736e-03 9.99977316e-01 3.84356885e-04 1.59649867e-02] [-1.80541018e-03 -3.72224019e-04 9.99998301e-01 -1.23094487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12719347 meters Centerline goodness [0,1] 0.90282936193298 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.13 [[ 9.99981435e-01 5.90103787e-03 1.51887557e-03 2.09579167e-01] [-5.90041203e-03 9.99982506e-01 -4.16193851e-04 2.26403709e-02] [-1.52130497e-03 4.07224133e-04 9.99998760e-01 -1.28599468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1571934699999997 meters Centerline goodness [0,1] 0.9022513953634216 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.13 [[ 0.99994944 0.00996252 0.00136253 0.21082079] [-0.00996652 0.99994595 0.00295929 0.02525183] [-0.00133298 -0.00297272 0.99999469 -0.12986336] [ 0. 0. 0. 1. ]] SLAMing on 3.1871934699999995 meters Centerline goodness [0,1] 0.9006745998491578 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.13 [[ 9.99951135e-01 9.66498564e-03 2.07738835e-03 2.08713442e-01] [-9.66660079e-03 9.99952982e-01 7.68858330e-04 3.10511228e-02] [-2.06985967e-03 -7.88902044e-04 9.99997547e-01 -1.28029819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2171934699999998 meters Centerline goodness [0,1] 0.9068156611630778 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.12 [[ 0.99997267 0.0069691 0.00246707 0.20511129] [-0.00696444 0.99997396 -0.00189296 0.0327854 ] [-0.0024802 0.00187572 0.99999517 -0.12433625] [ 0. 0. 0. 1. ]] SLAMing on 3.2471934699999996 meters Centerline goodness [0,1] 0.9057608015028178 Centerline is valid? [False, False] Translation: X:0.21, Y:0.03, Z:-0.12 [[ 0.99997565 0.00654708 0.00241496 0.20503374] [-0.00654172 0.99997613 -0.00222175 0.0330783 ] [-0.00242944 0.00220589 0.99999462 -0.12416143] [ 0. 0. 0. 1. ]] SLAMing on 3.27719347 meters Centerline goodness [0,1] 0.9057274247491639 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.12 [[ 0.99997784 0.0062293 0.00234877 0.20494697] [-0.00622275 0.99997676 -0.00278456 0.03443185] [-0.00236606 0.00276988 0.99999336 -0.12387972] [ 0. 0. 0. 1. ]] SLAMing on 3.3071934699999996 meters Centerline goodness [0,1] 0.9037728738327541 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.12 [[ 9.99945638e-01 1.01662202e-02 2.31702456e-03 2.05594821e-01] [-1.01678696e-02 9.99948060e-01 7.01198673e-04 3.63275160e-02] [-2.30977568e-03 -7.24719758e-04 9.99997070e-01 -1.24611961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33719347 meters Centerline goodness [0,1] 0.9001730861468521 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 0.99989337 0.01441509 0.00233384 0.20654506] [-0.01442532 0.99988614 0.00442888 0.03769661] [-0.00226973 -0.00446207 0.99998747 -0.12588002] [ 0. 0. 0. 1. ]] SLAMing on 3.3671934699999997 meters Centerline goodness [0,1] 0.8994287149224685 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 0.99989434 0.01436593 0.00222001 0.20714275] [-0.01437486 0.99988844 0.00405938 0.03887428] [-0.00216144 -0.00409086 0.9999893 -0.12642824] [ 0. 0. 0. 1. ]] SLAMing on 3.3971934699999995 meters Centerline goodness [0,1] 0.9008467116569561 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 9.99941691e-01 1.06080535e-02 2.02067683e-03 2.08355780e-01] [-1.06079098e-02 9.99943731e-01 -8.17960423e-05 4.02115271e-02] [-2.02143082e-03 6.03561153e-05 9.99997955e-01 -1.27645574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4271934699999997 meters Centerline goodness [0,1] 0.9004569464240798 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 0.99999233 0.00370673 0.00126249 0.2114811 ] [-0.00369858 0.99997268 -0.00639938 0.03863712] [-0.00128618 0.00639466 0.99997873 -0.13014203] [ 0. 0. 0. 1. ]] SLAMing on 3.4571934699999995 meters Centerline goodness [0,1] 0.8960723557490997 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.13 [[ 0.99996746 -0.00786437 -0.00179505 0.2185769 ] [ 0.00785508 0.99995601 -0.00512525 0.03449129] [ 0.00183528 0.00511098 0.99998525 -0.12638307] [ 0. 0. 0. 1. ]] SLAMing on 3.48719347 meters Centerline goodness [0,1] 0.8932875795112153 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.13 [[ 0.99992392 -0.01220173 -0.00180849 0.21838599] [ 0.01218523 0.99988639 -0.00887295 0.03302297] [ 0.00191655 0.00885023 0.999959 -0.12599156] [ 0. 0. 0. 1. ]] SLAMing on 3.5171934699999996 meters Centerline goodness [0,1] 0.8915163436989914 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.13 [[ 0.99984615 -0.01744212 -0.0018582 0.21818747] [ 0.01741711 0.99976746 -0.01271508 0.03001371] [ 0.00207955 0.01268076 0.99991743 -0.1257318 ] [ 0. 0. 0. 1. ]] SLAMing on 3.54719347 meters Centerline goodness [0,1] 0.88911682820121 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.13 [[ 0.9998394 -0.01780274 -0.00205691 0.21899165] [ 0.01777599 0.99976556 -0.01236284 0.02863026] [ 0.00227652 0.01232429 0.99992146 -0.12652472] [ 0. 0. 0. 1. ]] SLAMing on 3.5771934699999997 meters Centerline goodness [0,1] 0.8905199673318954 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.13 [[ 0.9998204 -0.01882504 -0.00218743 0.21952881] [ 0.01879496 0.99973832 -0.01304007 0.02982821] [ 0.00243234 0.01299661 0.99991258 -0.12705154] [ 0. 0. 0. 1. ]] SLAMing on 3.6071934699999995 meters Centerline goodness [0,1] 0.8898729946524064 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.13 [[ 0.99984751 -0.01737295 -0.00177323 0.21701989] [ 0.0173513 0.99978253 -0.01156843 0.03320516] [ 0.00197383 0.0115359 0.99993151 -0.12502189] [ 0. 0. 0. 1. ]] SLAMing on 3.6371934699999997 meters Centerline goodness [0,1] 0.8915927351858052 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.12 [[ 0.99989897 -0.01411671 -0.00166587 0.21655147] [ 0.01410214 0.99986482 -0.00845464 0.03510644] [ 0.001785 0.0084303 0.99996287 -0.12483392] [ 0. 0. 0. 1. ]] SLAMing on 3.6671934699999995 meters Centerline goodness [0,1] 0.8898771529623506 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.13 [[ 0.99993086 -0.01162267 -0.00178645 0.21733526] [ 0.01160932 0.9999059 -0.00730861 0.0437223 ] [ 0.00187123 0.00728737 0.9999717 -0.12555744] [ 0. 0. 0. 1. ]] SLAMing on 3.6971934699999998 meters Centerline goodness [0,1] 0.8901921428422087 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.13 [[ 0.99997806 -0.00648369 -0.00135406 0.2169415 ] [ 0.00647879 0.99997257 -0.00358957 0.05416316] [ 0.0013773 0.00358072 0.99999264 -0.1262128 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7271934699999996 meters Centerline goodness [0,1] 0.8911856636799333 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.13 [[ 0.9999933 -0.00337273 -0.00142515 0.21686413] [ 0.0033702 0.99999274 -0.00177756 0.061122 ] [ 0.00143114 0.00177274 0.9999974 -0.12582671] [ 0. 0. 0. 1. ]] SLAMing on 3.75719347 meters Centerline goodness [0,1] 0.8917087208574884 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:-0.12 [[ 9.99997948e-01 1.67668628e-03 -1.13653899e-03 2.16443667e-01] [-1.67716935e-03 9.99998504e-01 -4.24220082e-04 7.73866311e-02] [ 1.13582601e-03 4.26125380e-04 9.99999264e-01 -1.24698794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7871934699999996 meters Centerline goodness [0,1] 0.8941316664227625 Centerline is valid? [False, False] Translation: X:0.21, Y:0.09, Z:-0.12 [[ 9.99999520e-01 8.79318853e-04 4.32783610e-04 2.12417504e-01] [-8.78322835e-04 9.99996978e-01 -2.29625618e-03 9.28037464e-02] [-4.34801444e-04 2.29587496e-03 9.99997270e-01 -1.23833299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.81719347 meters Centerline goodness [0,1] 0.8926689528270324 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:-0.12 [[ 9.99999374e-01 -8.90782194e-04 6.76429908e-04 2.11226452e-01] [ 8.94093199e-04 9.99987544e-01 -4.91040010e-03 9.97848777e-02] [-6.72047386e-04 4.91100182e-03 9.99987715e-01 -1.22822217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8471934699999997 meters Centerline goodness [0,1] 0.8947554999478677 Centerline is valid? [False, False] Translation: X:0.20, Y:0.11, Z:-0.12 [[ 0.9999461 -0.00999069 0.00282566 0.20467564] [ 0.01002636 0.99986646 -0.01290464 0.11327334] [-0.00269636 0.01293227 0.99991274 -0.12154363] [ 0. 0. 0. 1. ]] SLAMing on 3.8771934699999995 meters Centerline goodness [0,1] 0.8937700679704766 Centerline is valid? [False, False] Translation: X:0.20, Y:0.13, Z:-0.12 [[ 0.99989226 -0.01406782 0.0041918 0.20096795] [ 0.01413991 0.99974345 -0.01769458 0.12642201] [-0.0039418 0.01775195 0.99983465 -0.12040971] [ 0. 0. 0. 1. ]] SLAMing on 3.9071934699999997 meters Centerline goodness [0,1] 0.892095721537346 Centerline is valid? [False, False] Translation: X:0.20, Y:0.14, Z:-0.12 [[ 0.99994345 -0.00940567 0.00496199 0.20013513] [ 0.00947827 0.99984531 -0.01481598 0.14070537] [-0.00482187 0.01486217 0.99987793 -0.12122185] [ 0. 0. 0. 1. ]] SLAMing on 3.9371934699999995 meters Centerline goodness [0,1] 0.8943035343035343 Centerline is valid? [False, False] Translation: X:0.20, Y:0.15, Z:-0.12 [[ 0.99997408 -0.00567192 0.00443416 0.20248511] [ 0.0057269 0.99990564 -0.01248677 0.1485795 ] [-0.00436291 0.01251184 0.99991221 -0.12295349] [ 0. 0. 0. 1. ]] SLAMing on 3.9671934699999998 meters Centerline goodness [0,1] 0.8906445687567839 Centerline is valid? [False, False] Translation: X:0.20, Y:0.17, Z:-0.12 [[ 0.99998401 0.00310938 0.00472405 0.20343003] [-0.00307572 0.99996996 -0.00711468 0.16626647] [-0.00474603 0.00710004 0.99996353 -0.12421799] [ 0. 0. 0. 1. ]] SLAMing on 3.9971934699999996 meters Centerline goodness [0,1] 0.8884420644677349 Centerline is valid? [False, False] Translation: X:0.20, Y:0.18, Z:-0.12 [[ 0.99995552 0.00778845 0.00531924 0.20213941] [-0.00775372 0.99994869 -0.00651854 0.18383926] [-0.00536974 0.006477 0.99996461 -0.12147562] [ 0. 0. 0. 1. ]] SLAMing on 4.027193469999999 meters Centerline goodness [0,1] 0.8869270517353194 Centerline is valid? [False, False] Translation: X:0.20, Y:0.19, Z:-0.12 [[ 0.99995213 0.00862358 0.00462276 0.20403162] [-0.00859338 0.99994186 -0.00651311 0.1904229 ] [-0.00467866 0.00647307 0.9999681 -0.12235666] [ 0. 0. 0. 1. ]] SLAMing on 4.05719347 meters Centerline goodness [0,1] 0.8733137956298754 Centerline is valid? [False, False] Translation: X:0.21, Y:0.20, Z:-0.12 [[ 0.99995311 0.00885523 0.00391916 0.20712062] [-0.00882471 0.99993113 -0.00773639 0.19982425] [-0.0039874 0.00770144 0.99996239 -0.12461812] [ 0. 0. 0. 1. ]] SLAMing on 4.08719347 meters Centerline goodness [0,1] 0.8656901358587423 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:-0.13 [[ 0.9999425 0.0102273 0.00322435 0.2103616 ] [-0.01020321 0.99992054 -0.00740339 0.20828379] [-0.00329981 0.00737007 0.9999674 -0.12707391] [ 0. 0. 0. 1. ]] SLAMing on 4.117193469999999 meters Centerline goodness [0,1] 0.8670448226003782 Centerline is valid? [False, False] Translation: X:0.21, Y:0.21, Z:-0.13 [[ 0.99994021 0.01064209 0.00251247 0.21281988] [-0.01062264 0.99991447 -0.00762991 0.21275551] [-0.00259345 0.00760276 0.99996774 -0.12844637] [ 0. 0. 0. 1. ]] SLAMing on 4.1471934699999995 meters Centerline goodness [0,1] 0.8661136101629784 Centerline is valid? [False, False] Translation: X:0.22, Y:0.22, Z:-0.13 [[ 0.99990818 0.01343693 0.00175571 0.21746929] [-0.01342683 0.99989394 -0.0056411 0.21991952] [-0.00183133 0.00561701 0.99998255 -0.13245797] [ 0. 0. 0. 1. ]] SLAMing on 4.17719347 meters Centerline goodness [0,1] 0.867618222445164 Centerline is valid? [False, False] Translation: X:0.23, Y:0.23, Z:-0.14 [[ 9.99880757e-01 1.54398753e-02 2.87895857e-04 2.25522228e-01] [-1.54382802e-02 9.99868818e-01 -4.89959463e-03 2.26186641e-01] [-3.63507220e-04 4.89456577e-03 9.99987955e-01 -1.39077506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20719347 meters Centerline goodness [0,1] 0.8694744569082192 Centerline is valid? [False, False] Translation: X:0.23, Y:0.23, Z:-0.14 [[ 9.99873233e-01 1.59201440e-02 -2.59320439e-04 2.28189668e-01] [-1.59212295e-02 9.99861093e-01 -4.93047983e-03 2.28870943e-01] [ 1.80790468e-04 4.93398351e-03 9.99987811e-01 -1.41211195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.237193469999999 meters Centerline goodness [0,1] 0.8692982456140351 Centerline is valid? [False, False] Translation: X:0.23, Y:0.23, Z:-0.14 [[ 9.99891405e-01 1.47052411e-02 -9.66665191e-04 2.31417938e-01] [-1.47112817e-02 9.99870192e-01 -6.57097042e-03 2.33009313e-01] [ 8.69912006e-04 6.58447773e-03 9.99977944e-01 -1.43731040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26719347 meters Centerline goodness [0,1] 0.874069263065111 Centerline is valid? [False, False] Translation: X:0.24, Y:0.24, Z:-0.14 [[ 0.99994835 0.0095082 0.00358993 0.23644105] [-0.00951591 0.99995244 0.00213645 0.2357041 ] [-0.00356945 -0.00217051 0.99999127 -0.14497898] [ 0. 0. 0. 1. ]] SLAMing on 4.29719347 meters Centerline goodness [0,1] 0.8741286456997646 Centerline is valid? [False, False] Translation: X:0.23, Y:0.24, Z:-0.14 [[ 9.99964479e-01 7.33075683e-03 4.15935437e-03 2.33257349e-01] [-7.33067159e-03 9.99973130e-01 -3.57401818e-05 2.38923330e-01] [-4.15950461e-03 5.24805140e-06 9.99991349e-01 -1.42400194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32719347 meters Centerline goodness [0,1] 0.8746522013607987 Centerline is valid? [False, False] Translation: X:0.23, Y:0.24, Z:-0.14 [[ 9.99968243e-01 6.77474968e-03 4.19704277e-03 2.32981136e-01] [-6.77165888e-03 9.99976791e-01 -7.50196198e-04 2.40182743e-01] [-4.20202775e-03 7.21751432e-04 9.99990911e-01 -1.42171596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3571934699999995 meters Centerline goodness [0,1] 0.872936479981214 Centerline is valid? [False, False] Translation: X:0.23, Y:0.24, Z:-0.14 [[ 0.9999712 0.00615399 0.00444264 0.23217148] [-0.00614456 0.99997884 -0.00213457 0.24397083] [-0.00445569 0.00210721 0.99998785 -0.14142094] [ 0. 0. 0. 1. ]] SLAMing on 4.38719347 meters Centerline goodness [0,1] 0.8748075693342491 Centerline is valid? [False, False] Translation: X:0.23, Y:0.25, Z:-0.14 [[ 9.99953785e-01 7.92432734e-03 5.44369259e-03 2.27371738e-01] [-7.91949746e-03 9.99968228e-01 -9.08226925e-04 2.48409629e-01] [-5.45071672e-03 8.65073641e-04 9.99984771e-01 -1.37172362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41719347 meters Centerline goodness [0,1] 0.8758346997457285 Centerline is valid? [False, False] Translation: X:0.23, Y:0.25, Z:-0.14 [[ 0.99995782 0.00772494 0.00496846 0.22723557] [-0.00771552 0.99996841 -0.00191254 0.25155458] [-0.00498307 0.00187413 0.99998583 -0.13546671] [ 0. 0. 0. 1. ]] SLAMing on 4.447193469999999 meters Centerline goodness [0,1] 0.8728470475506048 Centerline is valid? [False, False] Translation: X:0.23, Y:0.26, Z:-0.14 [[ 0.99991619 0.01215829 0.00444952 0.22875887] [-0.01216521 0.99992483 0.00152952 0.2555777 ] [-0.00443059 -0.00158352 0.99998893 -0.1357455 ] [ 0. 0. 0. 1. ]] SLAMing on 4.47719347 meters Centerline goodness [0,1] 0.8705618627521874 Centerline is valid? [False, False] Translation: X:0.23, Y:0.26, Z:-0.14 [[ 0.99981859 0.01869132 0.00366295 0.23280757] [-0.01871364 0.99980593 0.00615719 0.25833928] [-0.00354715 -0.00622462 0.99997434 -0.13781375] [ 0. 0. 0. 1. ]] SLAMing on 4.50719347 meters Centerline goodness [0,1] 0.8704352659690167 Centerline is valid? [False, False] Translation: X:0.24, Y:0.26, Z:-0.14 [[ 0.99968772 0.02479372 0.0031189 0.2358119 ] [-0.02482595 0.99963392 0.01075672 0.25972357] [-0.00285105 -0.01083079 0.99993728 -0.13922343] [ 0. 0. 0. 1. ]] SLAMing on 4.53719347 meters Centerline goodness [0,1] 0.8717483363581368 Centerline is valid? [False, False] Translation: X:0.24, Y:0.26, Z:-0.14 [[ 0.99965991 0.02597639 0.00230023 0.23860292] [-0.02600079 0.99959802 0.01130309 0.26036405] [-0.0020057 -0.01135905 0.99993347 -0.14054326] [ 0. 0. 0. 1. ]] SLAMing on 4.567193469999999 meters Centerline goodness [0,1] 0.8728836010693384 Centerline is valid? [False, False] Translation: X:0.24, Y:0.26, Z:-0.14 [[ 0.99960176 0.02818475 0.00139125 0.24274744] [-0.02820063 0.99951572 0.01315466 0.25873416] [-0.00101981 -0.01318866 0.99991251 -0.14328818] [ 0. 0. 0. 1. ]] SLAMing on 4.59719347 meters Centerline goodness [0,1] 0.8710169087878066 Centerline is valid? [False, False] Translation: X:0.24, Y:0.25, Z:-0.14 [[ 9.99769877e-01 2.14480603e-02 4.17402324e-04 2.43651518e-01] [-2.14502790e-02 9.99749764e-01 6.34783264e-03 2.54686715e-01] [-2.81149178e-04 -6.35532526e-03 9.99979765e-01 -1.42035419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62719347 meters Centerline goodness [0,1] 0.8690490240045319 Centerline is valid? [False, False] Translation: X:0.24, Y:0.25, Z:-0.14 [[ 9.99863742e-01 1.64974028e-02 5.77606494e-04 2.41231454e-01] [-1.64986946e-02 9.99861223e-01 2.30804040e-03 2.49329214e-01] [-5.39449664e-04 -2.31725566e-03 9.99997170e-01 -1.39624889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.657193469999999 meters Centerline goodness [0,1] 0.8652181918615356 Centerline is valid? [False, False] Translation: X:0.23, Y:0.24, Z:-0.13 [[ 0.99998885 0.00432185 0.00190424 0.23488669] [-0.00431043 0.99997294 -0.00596154 0.23660687] [-0.00192995 0.00595327 0.99998042 -0.13492121] [ 0. 0. 0. 1. ]] SLAMing on 4.6871934699999995 meters Centerline goodness [0,1] 0.869266468414887 Centerline is valid? [False, False] Translation: X:0.23, Y:0.22, Z:-0.14 [[ 0.99999053 -0.00372298 0.00225156 0.23284844] [ 0.00374289 0.99995336 -0.00890286 0.22271959] [-0.00221831 0.0089112 0.99995783 -0.13625845] [ 0. 0. 0. 1. ]] SLAMing on 4.71719347 meters Centerline goodness [0,1] 0.8664731494920175 Centerline is valid? [False, False] Translation: X:0.23, Y:0.22, Z:-0.14 [[ 0.99997533 -0.0067687 0.00187461 0.23402388] [ 0.0067886 0.99991842 -0.01082015 0.21674531] [-0.00180122 0.01083261 0.9999397 -0.13709282] [ 0. 0. 0. 1. ]] SLAMing on 4.74719347 meters Centerline goodness [0,1] 0.8713270765722305 Centerline is valid? [False, False] Translation: X:0.24, Y:0.21, Z:-0.14 [[ 9.99965228e-01 -8.30020604e-03 8.05825106e-04 2.37054167e-01] [ 8.30884269e-03 9.99900701e-01 -1.13820323e-02 2.06980524e-01] [-7.11271875e-04 1.13883320e-02 9.99934898e-01 -1.38331921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.777193469999999 meters Centerline goodness [0,1] 0.8713270765722305 Centerline is valid? [False, False] Translation: X:0.24, Y:0.21, Z:-0.14 [[ 9.99965228e-01 -8.30020604e-03 8.05825106e-04 2.37054167e-01] [ 8.30884269e-03 9.99900701e-01 -1.13820323e-02 2.06980524e-01] [-7.11271875e-04 1.13883320e-02 9.99934898e-01 -1.38331921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.80719347 meters Centerline goodness [0,1] 0.8816417367486251 Centerline is valid? [False, False] Translation: X:0.24, Y:0.20, Z:-0.14 [[ 9.99984470e-01 -5.54408456e-03 -5.68889010e-04 2.41020841e-01] [ 5.53910573e-03 9.99949302e-01 -8.40900382e-03 1.97805512e-01] [ 6.15480396e-04 8.40572209e-03 9.99964482e-01 -1.39720778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83719347 meters Centerline goodness [0,1] 0.8840456506492679 Centerline is valid? [False, False] Translation: X:0.24, Y:0.19, Z:-0.14 [[ 9.99988955e-01 -4.65045532e-03 -6.80571195e-04 2.41252642e-01] [ 4.64552317e-03 9.99964163e-01 -7.07758966e-03 1.94426877e-01] [ 7.13460820e-04 7.07434988e-03 9.99974722e-01 -1.39756831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867193469999999 meters Centerline goodness [0,1] 0.8950899855772245 Centerline is valid? [False, False] Translation: X:0.24, Y:0.19, Z:-0.14 [[ 9.99999830e-01 -3.79993506e-04 -4.42059833e-04 2.39591621e-01] [ 3.79111545e-04 9.99997941e-01 -1.99349220e-03 1.87877622e-01] [ 4.42816437e-04 1.99332428e-03 9.99997915e-01 -1.38136653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8971934699999995 meters Centerline goodness [0,1] 0.8997503640524236 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.14 [[ 9.99999996e-01 6.03573322e-05 -6.20856199e-05 2.36718999e-01] [-6.04029330e-05 9.99999728e-01 -7.34742305e-04 1.81236164e-01] [ 6.20412560e-05 7.34746053e-04 9.99999728e-01 -1.35258572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92719347 meters Centerline goodness [0,1] 0.8984548838563438 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.13 [[ 9.99999948e-01 2.44955203e-04 2.08936656e-04 2.35788536e-01] [-2.45038537e-04 9.99999890e-01 3.98914108e-04 1.76005328e-01] [-2.08838917e-04 -3.98965285e-04 9.99999899e-01 -1.34836595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95719347 meters Centerline goodness [0,1] 0.898065908524944 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:-0.13 [[ 9.99994212e-01 -3.38310416e-03 3.61530226e-04 2.35292839e-01] [ 3.38366100e-03 9.99993073e-01 -1.55087761e-03 1.67308499e-01] [-3.56280942e-04 1.55209193e-03 9.99998732e-01 -1.34871145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.987193469999999 meters Centerline goodness [0,1] 0.8944166218285667 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.14 [[ 9.99980018e-01 -6.31918012e-03 -1.74922105e-04 2.38126349e-01] [ 6.31870632e-03 9.99976687e-01 -2.58823382e-03 1.61768009e-01] [ 1.91273543e-04 2.58707682e-03 9.99996635e-01 -1.38243078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.01719347 meters Centerline goodness [0,1] 0.8940889777555611 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.14 [[ 9.99979928e-01 -6.33583625e-03 -3.02982156e-05 2.38159672e-01] [ 6.33576982e-03 9.99978238e-01 -1.83905104e-03 1.59249157e-01] [ 4.19494825e-05 1.83882217e-03 9.99998308e-01 -1.38863508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04719347 meters Centerline goodness [0,1] 0.8926182886430402 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.14 [[ 9.99975089e-01 -7.04980633e-03 3.49530899e-04 2.36669203e-01] [ 7.05029450e-03 9.99974144e-01 -1.41566197e-03 1.54601339e-01] [-3.39541719e-04 1.41809100e-03 9.99998937e-01 -1.38101553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.077193469999999 meters Centerline goodness [0,1] 0.8933366535931436 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.14 [[ 9.99976698e-01 -6.81490223e-03 4.00823721e-04 2.36814971e-01] [ 6.81507660e-03 9.99976682e-01 -4.35276045e-04 1.51282296e-01] [-3.97848011e-04 4.37997546e-04 9.99999825e-01 -1.38611493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1071934699999995 meters Centerline goodness [0,1] 0.8954457585898689 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.14 [[ 9.99981100e-01 -6.14777039e-03 -7.01757559e-05 2.39486459e-01] [ 6.14778696e-03 9.99981074e-01 2.38513054e-04 1.52543437e-01] [ 6.87081043e-05 -2.38939972e-04 9.99999969e-01 -1.41073255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13719347 meters Centerline goodness [0,1] 0.8955909242021276 Centerline is valid? [False, False] Translation: X:0.24, Y:0.15, Z:-0.14 [[ 9.99996298e-01 -2.72108020e-03 1.51389631e-05 2.39329729e-01] [ 2.72100085e-03 9.99988751e-01 3.88503409e-03 1.53080981e-01] [-2.57102822e-05 -3.88497851e-03 9.99992453e-01 -1.41309732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16719347 meters Centerline goodness [0,1] 0.894640707376811 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.14 [[ 9.99999328e-01 1.14292337e-03 1.93539445e-04 2.38897504e-01] [-1.14416720e-03 9.99977871e-01 6.55346030e-03 1.57353382e-01] [-1.86045059e-04 -6.55367734e-03 9.99978507e-01 -1.40879668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.197193469999999 meters Centerline goodness [0,1] 0.8986995637380759 Centerline is valid? [False, False] Translation: X:0.23, Y:0.17, Z:-0.14 [[ 9.99920214e-01 1.26285204e-02 2.91803397e-04 2.34654039e-01] [-1.26282104e-02 9.99919719e-01 -1.04072253e-03 1.65243755e-01] [-3.04922757e-04 1.03695454e-03 9.99999416e-01 -1.39573477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22719347 meters Centerline goodness [0,1] 0.9036625694141137 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:-0.14 [[ 9.99846320e-01 1.75297946e-02 -2.08814091e-04 2.36945064e-01] [-1.75291910e-02 9.99842951e-01 2.60767224e-03 1.69306057e-01] [ 2.54493256e-04 -2.60361115e-03 9.99996578e-01 -1.40974374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25719347 meters Centerline goodness [0,1] 0.9058622343642468 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.14 [[ 9.99671843e-01 2.56042762e-02 -7.92075126e-04 2.41520000e-01] [-2.55964487e-02 9.99634690e-01 8.67802220e-03 1.76803429e-01] [ 1.01398025e-03 -8.65490014e-03 9.99962032e-01 -1.44726911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.287193469999999 meters Centerline goodness [0,1] 0.9052394554135479 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-0.15 [[ 0.99967272 0.02554681 -0.00135013 0.24513216] [-0.02553579 0.99964477 0.00763204 0.18262439] [ 0.00154462 -0.00759506 0.99996996 -0.14794783] [ 0. 0. 0. 1. ]] SLAMing on 5.317193469999999 meters Centerline goodness [0,1] 0.9023702620862483 Centerline is valid? [False, False] Translation: X:0.25, Y:0.19, Z:-0.15 [[ 0.99976951 0.02141352 -0.00154381 0.24552256] [-0.02140906 0.99976675 0.00284581 0.18548308] [ 0.00160439 -0.00281211 0.99999476 -0.1480119 ] [ 0. 0. 0. 1. ]] SLAMing on 5.34719347 meters Centerline goodness [0,1] 0.9014169744777646 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-0.15 [[ 0.99993274 0.01152714 0.00128405 0.24914297] [-0.0115354 0.99991153 0.00662272 0.18310783] [-0.0012076 -0.00663709 0.99997725 -0.14593103] [ 0. 0. 0. 1. ]] SLAMing on 5.37719347 meters Centerline goodness [0,1] 0.8968801996672213 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-0.14 [[ 9.99988480e-01 4.44092397e-03 1.82134371e-03 2.45011427e-01] [-4.44177169e-03 9.99990029e-01 4.61657236e-04 1.77359968e-01] [-1.81927536e-03 -4.69741911e-04 9.99998235e-01 -1.41802310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407193469999999 meters Centerline goodness [0,1] 0.8976939552099146 Centerline is valid? [False, False] Translation: X:0.24, Y:0.18, Z:-0.14 [[ 9.99998418e-01 6.59349876e-04 1.65191256e-03 2.44673809e-01] [-6.54458196e-04 9.99995405e-01 -2.96001468e-03 1.75531114e-01] [-1.65385666e-03 2.95892889e-03 9.99994255e-01 -1.40917414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4371934699999995 meters Centerline goodness [0,1] 0.8909988131675932 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:-0.14 [[ 0.99999273 -0.00340222 0.00172287 0.24367555] [ 0.00341241 0.99997649 -0.00594809 0.17153766] [-0.00170259 0.00595393 0.99998083 -0.13981177] [ 0. 0. 0. 1. ]] SLAMing on 5.46719347 meters Centerline goodness [0,1] 0.8900531164411984 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:-0.14 [[ 0.99996958 -0.00754427 0.00198014 0.24298708] [ 0.0075611 0.9999341 -0.00863875 0.16668208] [-0.00191483 0.00865346 0.99996072 -0.13976604] [ 0. 0. 0. 1. ]] SLAMing on 5.49719347 meters Centerline goodness [0,1] 0.8889096650876755 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.14 [[ 0.99996601 -0.00798758 0.00204579 0.24249807] [ 0.00800331 0.99993755 -0.00780062 0.16298863] [-0.00198335 0.00781673 0.99996748 -0.13967597] [ 0. 0. 0. 1. ]] SLAMing on 5.527193469999999 meters Centerline goodness [0,1] 0.8889788966434031 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.14 [[ 0.99992045 -0.01243741 0.00209642 0.24166874] [ 0.01246003 0.9998603 -0.01114136 0.15976752] [-0.00195756 0.01116659 0.99993574 -0.13879543] [ 0. 0. 0. 1. ]] SLAMing on 5.55719347 meters Centerline goodness [0,1] 0.8885262260659862 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.14 [[ 0.99992358 -0.01219333 0.00204077 0.24233356] [ 0.01221404 0.99987068 -0.01046183 0.15739316] [-0.00191294 0.01048596 0.99994319 -0.13971052] [ 0. 0. 0. 1. ]] SLAMing on 5.58719347 meters Centerline goodness [0,1] 0.8857208076531988 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.14 [[ 0.999976 -0.00676295 0.00150623 0.24525052] [ 0.00677135 0.99996115 -0.00564312 0.15865754] [-0.00146801 0.00565318 0.99998294 -0.14225551] [ 0. 0. 0. 1. ]] SLAMing on 5.617193469999999 meters Centerline goodness [0,1] 0.8877359669958744 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.14 [[ 0.99999539 -0.00271827 0.00135417 0.24602081] [ 0.00272079 0.99999456 -0.00186399 0.15965561] [-0.0013491 0.00186766 0.99999735 -0.14301662] [ 0. 0. 0. 1. ]] SLAMing on 5.6471934699999995 meters Centerline goodness [0,1] 0.8871363258520366 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 9.99999517e-01 5.80827785e-04 7.93306393e-04 2.49285743e-01] [-5.81426997e-04 9.99999546e-01 7.55312867e-04 1.62865700e-01] [-7.92867326e-04 -7.55773752e-04 9.99999400e-01 -1.45759205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67719347 meters Centerline goodness [0,1] 0.8869269736704956 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 9.99999878e-01 1.58762455e-04 4.68070582e-04 2.50279837e-01] [-1.58995737e-04 9.99999863e-01 4.98394687e-04 1.63288761e-01] [-4.67991392e-04 -4.98469047e-04 9.99999766e-01 -1.46469411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70719347 meters Centerline goodness [0,1] 0.8861590397599399 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 9.99999968e-01 2.35604751e-04 8.84342065e-05 2.51446536e-01] [-2.35676222e-04 9.99999645e-01 8.09036456e-04 1.62534429e-01] [-8.82435623e-05 -8.09057272e-04 9.99999669e-01 -1.47219833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.737193469999999 meters Centerline goodness [0,1] 0.8858607325915739 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 9.99999938e-01 2.77322431e-04 -2.17406720e-04 2.52367100e-01] [-2.77123318e-04 9.99999543e-01 9.15350951e-04 1.62071040e-01] [ 2.17660467e-04 -9.15290645e-04 9.99999557e-01 -1.47733728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76719347 meters Centerline goodness [0,1] 0.8857398505940862 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 9.99999924e-01 2.60561503e-04 -2.89948568e-04 2.51836618e-01] [-2.60381114e-04 9.99999773e-01 6.22002698e-04 1.62982186e-01] [ 2.90110572e-04 -6.21927154e-04 9.99999765e-01 -1.46627527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79719347 meters Centerline goodness [0,1] 0.8886961247439489 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 9.99999903e-01 1.96227141e-04 -3.94644224e-04 2.51399334e-01] [-1.96149196e-04 9.99999961e-01 1.97536570e-04 1.64474194e-01] [ 3.94682971e-04 -1.97459142e-04 9.99999903e-01 -1.45609858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827193469999999 meters Centerline goodness [0,1] 0.8872955922636341 Centerline is valid? [False, False] Translation: X:0.25, Y:0.17, Z:-0.15 [[ 9.99998951e-01 1.22367047e-03 -7.74548645e-04 2.52717899e-01] [-1.22311465e-03 9.99998994e-01 7.17676628e-04 1.65856395e-01] [ 7.75426065e-04 -7.16728514e-04 9.99999443e-01 -1.46139975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8571934699999995 meters Centerline goodness [0,1] 0.8836350816068355 Centerline is valid? [False, False] Translation: X:0.25, Y:0.17, Z:-0.15 [[ 9.99999239e-01 1.08760304e-03 -5.83118737e-04 2.52023971e-01] [-1.08736157e-03 9.99999323e-01 4.14251330e-04 1.65796917e-01] [ 5.83568883e-04 -4.13616954e-04 9.99999744e-01 -1.45628068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88719347 meters Centerline goodness [0,1] 0.8821821198921386 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.14 [[ 9.99994147e-01 -3.40692180e-03 -3.15711287e-04 2.50677859e-01] [ 3.40572054e-03 9.99987242e-01 -3.73043482e-03 1.64691939e-01] [ 3.28416559e-04 3.72933776e-03 9.99992992e-01 -1.44519509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91719347 meters Centerline goodness [0,1] 0.8841241823278995 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.14 [[ 9.99991602e-01 -4.09000327e-03 -2.59246594e-04 2.50080368e-01] [ 4.08907639e-03 9.99985583e-01 -3.48030804e-03 1.62330635e-01] [ 2.73477328e-04 3.47921873e-03 9.99993910e-01 -1.44198525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947193469999999 meters Centerline goodness [0,1] 0.8819458832304313 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.14 [[ 9.99957791e-01 -9.17583497e-03 -4.68621476e-04 2.50386116e-01] [ 9.17225536e-03 9.99932431e-01 -7.14170692e-03 1.60540088e-01] [ 5.34120935e-04 7.13710716e-03 9.99974388e-01 -1.44715659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.97719347 meters Centerline goodness [0,1] 0.8548001579614657 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 0.99991068 -0.01332779 -0.00100534 0.25273472] [ 0.01331742 0.99986426 -0.00970093 0.15668123] [ 0.0011345 0.00968668 0.99995244 -0.14742716] [ 0. 0. 0. 1. ]] SLAMing on 6.00719347 meters Centerline goodness [0,1] 0.839151550371508 Centerline is valid? [False, False] Translation: X:0.25, Y:0.15, Z:-0.15 [[ 0.99991543 -0.01295134 -0.00117791 0.25415462] [ 0.01294083 0.99987981 -0.00853779 0.15376229] [ 0.00128834 0.00852183 0.99996286 -0.14912551] [ 0. 0. 0. 1. ]] SLAMing on 6.037193469999999 meters Centerline goodness [0,1] 0.871613467060635 Centerline is valid? [False, False] Translation: X:0.25, Y:0.15, Z:-0.15 [[ 0.99995658 -0.00925267 -0.00110741 0.25429441] [ 0.00924782 0.99994796 -0.00430842 0.15327582] [ 0.00114721 0.00429799 0.99999011 -0.14989849] [ 0. 0. 0. 1. ]] SLAMing on 6.067193469999999 meters Centerline goodness [0,1] 0.8835490987803355 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.15 [[ 0.99999781 -0.00176395 -0.0011253 0.25369653] [ 0.00176623 0.99999637 0.00203386 0.15813069] [ 0.00112171 -0.00203584 0.9999973 -0.14897557] [ 0. 0. 0. 1. ]] SLAMing on 6.09719347 meters Centerline goodness [0,1] 0.8821283307047397 Centerline is valid? [False, False] Translation: X:0.26, Y:0.17, Z:-0.15 [[ 0.99997852 0.00639384 -0.00144056 0.25532862] [-0.00638274 0.99995087 0.00758455 0.16657065] [ 0.00148898 -0.0075752 0.9999702 -0.14934599] [ 0. 0. 0. 1. ]] SLAMing on 6.12719347 meters Centerline goodness [0,1] 0.8798768180777794 Centerline is valid? [False, False] Translation: X:0.26, Y:0.17, Z:-0.15 [[ 0.99994875 0.01001328 -0.00149252 0.25577394] [-0.00999746 0.99989747 0.01025162 0.17088056] [ 0.00159502 -0.01023618 0.99994634 -0.14966568] [ 0. 0. 0. 1. ]] SLAMing on 6.157193469999999 meters Centerline goodness [0,1] 0.87661268471623 Centerline is valid? [False, False] Translation: X:0.26, Y:0.18, Z:-0.15 [[ 0.99992052 0.01251065 -0.00155905 0.25720175] [-0.01249261 0.99986044 0.01109214 0.17992436] [ 0.0016976 -0.01107178 0.99993726 -0.15096182] [ 0. 0. 0. 1. ]] SLAMing on 6.1871934699999995 meters Centerline goodness [0,1] 0.8753907151398184 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-0.15 [[ 0.99995995 0.00873253 -0.00195746 0.25876031] [-0.00872012 0.99994239 0.00625864 0.18510563] [ 0.002012 -0.00624132 0.9999785 -0.15182626] [ 0. 0. 0. 1. ]] SLAMing on 6.21719347 meters Centerline goodness [0,1] 0.8718478446072585 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-0.15 [[ 9.99989427e-01 3.97929300e-03 -2.30464689e-03 2.60257057e-01] [-3.97705403e-03 9.99991616e-01 9.75271991e-04 1.91101633e-01] [ 2.30850846e-03 -9.66095974e-04 9.99996869e-01 -1.53064623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24719347 meters Centerline goodness [0,1] 0.8704235075834394 Centerline is valid? [False, False] Translation: X:0.27, Y:0.19, Z:-0.16 [[ 0.99998734 -0.00366525 0.00344634 0.268734 ] [ 0.00364586 0.99997759 0.00561575 0.19325331] [-0.00346685 -0.00560311 0.99997829 -0.15656197] [ 0. 0. 0. 1. ]] SLAMing on 6.277193469999999 meters Centerline goodness [0,1] 0.8615921454734606 Centerline is valid? [False, False] Translation: X:0.27, Y:0.19, Z:-0.16 [[ 0.99998206 -0.00479465 0.00358914 0.26776659] [ 0.00477727 0.99997689 0.00483764 0.19415814] [-0.00361225 -0.0048204 0.99998186 -0.15582822] [ 0. 0. 0. 1. ]] SLAMing on 6.30719347 meters Centerline goodness [0,1] 0.8260172247121891 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-0.16 [[ 0.99996565 -0.00727833 0.00396629 0.26608723] [ 0.00726648 0.99996911 0.0029959 0.19716419] [-0.00398797 -0.00296697 0.99998765 -0.15512599] [ 0. 0. 0. 1. ]] SLAMing on 6.33719347 meters Centerline goodness [0,1] 0.7836538461538461 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-0.16 [[ 0.99995077 -0.00887806 0.00443122 0.26521113] [ 0.00887221 0.99995975 0.00133706 0.2017669 ] [-0.00444291 -0.00129768 0.99998929 -0.1553219 ] [ 0. 0. 0. 1. ]] SLAMing on 6.367193469999999 meters Centerline goodness [0,1] 0.764716431293432 Centerline is valid? [False, False] Translation: X:0.26, Y:0.21, Z:-0.16 [[ 0.99996613 -0.00642559 0.00514321 0.26455229] [ 0.00640989 0.99997476 0.00306426 0.20962065] [-0.00516277 -0.00303119 0.99998208 -0.15626564] [ 0. 0. 0. 1. ]] SLAMing on 6.3971934699999995 meters Centerline goodness [0,1] 0.7812365481773489 Centerline is valid? [False, False] Translation: X:0.26, Y:0.21, Z:-0.16 [[ 0.99998213 -0.00283092 0.00526496 0.26497074] [ 0.00279974 0.99997856 0.00591949 0.21443459] [-0.00528161 -0.00590464 0.99996862 -0.157059 ] [ 0. 0. 0. 1. ]] SLAMing on 6.42719347 meters Centerline goodness [0,1] 0.835187872923722 Centerline is valid? [False, False] Translation: X:0.27, Y:0.23, Z:-0.16 [[ 0.99997952 0.00332063 0.00547089 0.26659293] [-0.0033728 0.99994866 0.00955483 0.22715835] [-0.00543888 -0.00957309 0.99993939 -0.15871403] [ 0. 0. 0. 1. ]] SLAMing on 6.45719347 meters Centerline goodness [0,1] 0.8200833896252125 Centerline is valid? [False, False] Translation: X:0.27, Y:0.23, Z:-0.16 [[ 0.99996334 0.00668203 0.00535485 0.26820972] [-0.00674419 0.99990909 0.0116756 0.23420439] [-0.00527635 -0.01171129 0.9999175 -0.16019473] [ 0. 0. 0. 1. ]] SLAMing on 6.487193469999999 meters Centerline goodness [0,1] 0.8559467993493446 Centerline is valid? [False, False] Translation: X:0.28, Y:0.25, Z:-0.16 [[ 0.99989649 0.0143314 0.00127071 0.27708151] [-0.01434468 0.99983503 0.01114233 0.25224867] [-0.00111081 -0.01115941 0.99993711 -0.16186143] [ 0. 0. 0. 1. ]] SLAMing on 6.51719347 meters Centerline goodness [0,1] 0.863847470056221 Centerline is valid? [False, False] Translation: X:0.28, Y:0.27, Z:-0.17 [[ 9.99677395e-01 2.53929555e-02 5.50330807e-04 2.82178466e-01] [-2.53987066e-02 9.99522837e-01 1.75785324e-02 2.68722558e-01] [-1.03697318e-04 -1.75868392e-02 9.99845334e-01 -1.65009792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54719347 meters Centerline goodness [0,1] 0.8621580928481807 Centerline is valid? [False, False] Translation: X:0.29, Y:0.29, Z:-0.16 [[ 9.99463474e-01 3.27529994e-02 7.44430282e-05 2.85341760e-01] [-3.27476837e-02 9.99254832e-01 2.04296424e-02 2.85295867e-01] [ 5.94744509e-04 -2.04211192e-02 9.99791290e-01 -1.64575401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577193469999999 meters Centerline goodness [0,1] 0.8618032041239198 Centerline is valid? [False, False] Translation: X:0.29, Y:0.29, Z:-0.16 [[ 9.99459988e-01 3.28544998e-02 -5.59902470e-04 2.87064827e-01] [-3.28380552e-02 9.99281891e-01 1.89041031e-02 2.92623053e-01] [ 1.18058525e-03 -1.88755086e-02 9.99821145e-01 -1.64468563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6071934699999995 meters Centerline goodness [0,1] 0.8657675180426883 Centerline is valid? [False, False] Translation: X:0.29, Y:0.30, Z:-0.16 [[ 9.99492062e-01 3.18601505e-02 -7.41162819e-04 2.87366193e-01] [-3.18438083e-02 9.99359374e-01 1.63344352e-02 3.01090758e-01] [ 1.26110557e-03 -1.63025369e-02 9.99866310e-01 -1.63826515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63719347 meters Centerline goodness [0,1] 0.8657675180426883 Centerline is valid? [False, False] Translation: X:0.29, Y:0.30, Z:-0.16 [[ 9.99492062e-01 3.18601505e-02 -7.41162819e-04 2.87366193e-01] [-3.18438083e-02 9.99359374e-01 1.63344352e-02 3.01090758e-01] [ 1.26110557e-03 -1.63025369e-02 9.99866310e-01 -1.63826515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66719347 meters Centerline goodness [0,1] 0.8718967993434551 Centerline is valid? [False, False] Translation: X:0.29, Y:0.31, Z:-0.16 [[ 9.99655167e-01 2.62501415e-02 -6.90541596e-04 2.85559729e-01] [-2.62418787e-02 9.99605041e-01 1.00560974e-02 3.06170591e-01] [ 9.54242841e-04 -1.00345086e-02 9.99949198e-01 -1.61628500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.697193469999999 meters Centerline goodness [0,1] 0.8738259155938883 Centerline is valid? [False, False] Translation: X:0.29, Y:0.31, Z:-0.16 [[ 0.99975911 0.02191518 -0.00119959 0.28568951] [-0.02190856 0.99974604 0.00527908 0.30816481] [ 0.00131498 -0.00525153 0.99998535 -0.1604518 ] [ 0. 0. 0. 1. ]] SLAMing on 6.72719347 meters Centerline goodness [0,1] 0.8771476123415696 Centerline is valid? [False, False] Translation: X:0.28, Y:0.31, Z:-0.16 [[ 9.99868229e-01 1.62139663e-02 -7.94783692e-04 2.82479259e-01] [-1.62144078e-02 9.99868385e-01 -5.52233730e-04 3.10205517e-01] [ 7.85725187e-04 5.65047909e-04 9.99999532e-01 -1.57358827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75719347 meters Centerline goodness [0,1] 0.8764860787973308 Centerline is valid? [False, False] Translation: X:0.28, Y:0.31, Z:-0.15 [[ 9.99891576e-01 1.47251718e-02 -8.01161945e-05 2.79071278e-01] [-1.47252970e-02 9.99889788e-01 -1.89128711e-03 3.10727182e-01] [ 5.22578370e-05 1.89226179e-03 9.99998208e-01 -1.54872716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.787193469999999 meters Centerline goodness [0,1] 0.8746718323860015 Centerline is valid? [False, False] Translation: X:0.28, Y:0.31, Z:-0.15 [[ 9.99893480e-01 1.45948466e-02 -1.41682080e-04 2.78854726e-01] [-1.45951069e-02 9.99891377e-01 -2.05347024e-03 3.10372676e-01] [ 1.11696607e-04 2.05531937e-03 9.99997882e-01 -1.54352074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.817193469999999 meters Centerline goodness [0,1] 0.8647473649622122 Centerline is valid? [False, False] Translation: X:0.28, Y:0.31, Z:-0.15 [[ 9.99943593e-01 1.06171984e-02 -2.93363991e-04 2.78252305e-01] [-1.06187992e-02 9.99924786e-01 -6.13698052e-03 3.09128839e-01] [ 2.28184387e-04 6.13974952e-03 9.99981126e-01 -1.52921847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84719347 meters Centerline goodness [0,1] 0.8314871435015789 Centerline is valid? [False, False] Translation: X:0.28, Y:0.30, Z:-0.16 [[ 9.99981491e-01 6.08361963e-03 8.73890922e-05 2.77639178e-01] [-6.08281008e-03 9.99954323e-01 -7.37234672e-03 3.01699134e-01] [-1.32235654e-04 7.37167869e-03 9.99972820e-01 -1.56150149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87719347 meters Centerline goodness [0,1] 0.7863500012395568 Centerline is valid? [False, False] Translation: X:0.28, Y:0.29, Z:-0.16 [[ 9.99999471e-01 9.39854679e-04 4.18331025e-04 2.76050111e-01] [-9.36435371e-04 9.99966755e-01 -8.10018159e-03 2.92875582e-01] [-4.25930111e-04 8.09978556e-03 9.99967105e-01 -1.59038927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.907193469999999 meters Centerline goodness [0,1] 0.7788041196374325 Centerline is valid? [False, False] Translation: X:0.28, Y:0.29, Z:-0.16 [[ 9.99999447e-01 1.03077105e-03 2.10430911e-04 2.76204662e-01] [-1.02928123e-03 9.99975240e-01 -6.96127789e-03 2.88904342e-01] [-2.17601184e-04 6.96105744e-03 9.99975748e-01 -1.59163067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9371934699999995 meters Centerline goodness [0,1] 0.7732300884955752 Centerline is valid? [False, False] Translation: X:0.28, Y:0.29, Z:-0.16 [[ 9.99998124e-01 1.89882076e-03 -3.82293461e-04 2.76562157e-01] [-1.90109827e-03 9.99979904e-01 -6.04799257e-03 2.85963888e-01] [ 3.70801725e-04 6.04870800e-03 9.99981638e-01 -1.57818709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96719347 meters Centerline goodness [0,1] 0.8628001477650535 Centerline is valid? [False, False] Translation: X:0.28, Y:0.28, Z:-0.16 [[ 9.99945587e-01 1.02528277e-02 -1.92440102e-03 2.83772341e-01] [-1.02522079e-02 9.99947390e-01 3.31681751e-04 2.84182128e-01] [ 1.92770046e-03 -3.11934344e-04 9.99998093e-01 -1.61177814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.997193469999999 meters Centerline goodness [0,1] 0.8762400671240314 Centerline is valid? [False, False] Translation: X:0.29, Y:0.29, Z:-0.17 [[ 0.99988613 0.01480041 -0.00294662 0.29027097] [-0.0147904 0.99988487 0.00338996 0.28557132] [ 0.00299645 -0.003346 0.99998991 -0.16552336] [ 0. 0. 0. 1. ]] SLAMing on 7.027193469999999 meters Centerline goodness [0,1] 0.8738035892323031 Centerline is valid? [False, False] Translation: X:0.30, Y:0.29, Z:-0.17 [[ 0.99962859 0.02660099 -0.0059212 0.30417731] [-0.02653792 0.9995928 0.0104864 0.28806249] [ 0.00619774 -0.01032537 0.99992748 -0.17090946] [ 0. 0. 0. 1. ]] SLAMing on 7.05719347 meters Centerline goodness [0,1] 0.869036903690369 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.17 [[ 0.99956682 0.02867306 -0.00663545 0.30837467] [-0.02859682 0.99952701 0.01131233 0.29053178] [ 0.00695667 -0.01111767 0.999914 -0.17357485] [ 0. 0. 0. 1. ]] SLAMing on 7.08719347 meters Centerline goodness [0,1] 0.8744273375891851 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.17 [[ 0.99966026 0.02497227 -0.00746672 0.30994504] [-0.02492106 0.99966578 0.00687461 0.29224777] [ 0.0076359 -0.00668619 0.99994849 -0.17324129] [ 0. 0. 0. 1. ]] SLAMing on 7.117193469999999 meters Centerline goodness [0,1] 0.8796287054596267 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.17 [[ 0.99977882 0.01950651 -0.00786179 0.30835845] [-0.01949008 0.99980771 0.00216168 0.29085276] [ 0.00790245 -0.00200797 0.99996676 -0.17091068] [ 0. 0. 0. 1. ]] SLAMing on 7.1471934699999995 meters Centerline goodness [0,1] 0.8801447981751462 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.17 [[ 9.99942548e-01 1.06921311e-02 -7.61254029e-04 3.12389060e-01] [-1.06868526e-02 9.99920916e-01 6.62970320e-03 2.86743307e-01] [ 8.32079481e-04 -6.62118690e-03 9.99977734e-01 -1.71954637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17719347 meters Centerline goodness [0,1] 0.8771288937157525 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.17 [[ 9.99981079e-01 6.09941781e-03 -7.99294568e-04 3.10980718e-01] [-6.09803436e-03 9.99979924e-01 1.72199645e-03 2.87210728e-01] [ 8.09781697e-04 -1.71708975e-03 9.99998198e-01 -1.69694289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.207193469999999 meters Centerline goodness [0,1] 0.8749907574002416 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.17 [[ 9.99988773e-01 4.73755883e-03 -1.00137671e-04 3.07563698e-01] [-4.73749155e-03 9.99988559e-01 6.61837220e-04 2.86484928e-01] [ 1.03272018e-04 -6.61355388e-04 9.99999776e-01 -1.67081398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.237193469999999 meters Centerline goodness [0,1] 0.8773986944204951 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.17 [[ 9.99987076e-01 5.08147918e-03 -1.60930329e-04 3.07201136e-01] [-5.08151894e-03 9.99987058e-01 -2.47628586e-04 2.88617525e-01] [ 1.59669926e-04 2.48443156e-04 9.99999956e-01 -1.65308160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26719347 meters Centerline goodness [0,1] 0.8747805879008134 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.16 [[ 9.99984582e-01 5.55094125e-03 -1.53511249e-04 3.06929594e-01] [-5.55110752e-03 9.99983982e-01 -1.10476849e-03 2.92286181e-01] [ 1.47376285e-04 1.10560361e-03 9.99999378e-01 -1.63934398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29719347 meters Centerline goodness [0,1] 0.8718768590124926 Centerline is valid? [False, False] Translation: X:0.31, Y:0.29, Z:-0.16 [[ 9.99988573e-01 4.77517804e-03 2.26734490e-04 3.05390891e-01] [-4.77481531e-03 9.99987361e-01 -1.57427301e-03 2.92400214e-01] [-2.34249058e-04 1.57317241e-03 9.99998735e-01 -1.63100046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.327193469999999 meters Centerline goodness [0,1] 0.872611779826491 Centerline is valid? [False, False] Translation: X:0.30, Y:0.29, Z:-0.16 [[ 9.99994163e-01 3.37258965e-03 5.48070885e-04 3.03844804e-01] [-3.37148546e-03 9.99992310e-01 -2.00327160e-03 2.90084597e-01] [-5.54822884e-04 2.00141209e-03 9.99997843e-01 -1.62596726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3571934699999995 meters Centerline goodness [0,1] 0.8215334900117509 Centerline is valid? [False, False] Translation: X:0.30, Y:0.29, Z:-0.16 [[ 9.99979964e-01 -6.29203862e-03 6.93511664e-04 3.01982579e-01] [ 6.29883963e-03 9.99927275e-01 -1.02844655e-02 2.87600374e-01] [-6.28750973e-04 1.02886278e-02 9.99946873e-01 -1.61268097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38719347 meters Centerline goodness [0,1] 0.7932855710687825 Centerline is valid? [False, False] Translation: X:0.30, Y:0.28, Z:-0.17 [[ 9.99969341e-01 -7.78751287e-03 8.19324800e-04 3.01571772e-01] [ 7.79303552e-03 9.99945354e-01 -6.96828076e-03 2.81752427e-01] [-7.65014451e-04 6.97445215e-03 9.99975386e-01 -1.66375970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41719347 meters Centerline goodness [0,1] 0.661242746615087 Centerline is valid? [False, False] Translation: X:0.30, Y:0.27, Z:-0.17 [[ 9.99872293e-01 -1.59750162e-02 -4.42811209e-04 3.04635209e-01] [ 1.59701520e-02 9.99828313e-01 -9.39673363e-03 2.73883757e-01] [ 5.92848156e-04 9.38846184e-03 9.99955752e-01 -1.73897637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.447193469999999 meters Centerline goodness [0,1] 0.68261685842199 Centerline is valid? [False, False] Translation: X:0.31, Y:0.27, Z:-0.17 [[ 9.99799045e-01 -2.00373638e-02 -6.10696904e-04 3.05362428e-01] [ 2.00284893e-02 9.99725856e-01 -1.21273759e-02 2.69674897e-01] [ 8.53530128e-04 1.21127075e-02 9.99926274e-01 -1.74978193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.47719347 meters Centerline goodness [0,1] 0.7152759328583504 Centerline is valid? [False, False] Translation: X:0.31, Y:0.27, Z:-0.18 [[ 9.99933892e-01 -1.14697706e-02 -8.10126553e-04 3.06897767e-01] [ 1.14673043e-02 9.99929790e-01 -2.98611860e-03 2.67543363e-01] [ 8.44319769e-04 2.97663122e-03 9.99995213e-01 -1.77254458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50719347 meters Centerline goodness [0,1] 0.7548358947011199 Centerline is valid? [False, False] Translation: X:0.31, Y:0.27, Z:-0.18 [[ 0.99998157 -0.00581894 -0.00173396 0.31074126] [ 0.00582199 0.9999815 0.0017613 0.26968659] [ 0.00172368 -0.00177136 0.99999695 -0.17958364] [ 0. 0. 0. 1. ]] SLAMing on 7.537193469999999 meters Centerline goodness [0,1] 0.8744335301178258 Centerline is valid? [False, False] Translation: X:0.33, Y:0.28, Z:-0.18 [[ 0.99990549 0.01053323 -0.00883473 0.32859569] [-0.0104943 0.99993507 0.00444203 0.28127417] [ 0.00888094 -0.0043489 0.99995111 -0.1764752 ] [ 0. 0. 0. 1. ]] SLAMing on 7.567193469999999 meters Centerline goodness [0,1] 0.8923419522454534 Centerline is valid? [False, False] Translation: X:0.33, Y:0.29, Z:-0.18 [[ 0.99976411 0.01976256 -0.00900929 0.33154116] [-0.01965338 0.99973423 0.01205011 0.2865972 ] [ 0.00924504 -0.0118702 0.99988681 -0.17875364] [ 0. 0. 0. 1. ]] SLAMing on 7.59719347 meters Centerline goodness [0,1] 0.8802606226549031 Centerline is valid? [False, False] Translation: X:0.34, Y:0.30, Z:-0.18 [[ 0.99941812 0.03160508 -0.01282713 0.34305503] [-0.03145592 0.99943703 0.0116682 0.30167376] [ 0.01318868 -0.01125793 0.99984965 -0.1753855 ] [ 0. 0. 0. 1. ]] SLAMing on 7.62719347 meters Centerline goodness [0,1] 0.8771817412922572 Centerline is valid? [False, False] Translation: X:0.34, Y:0.31, Z:-0.17 [[ 0.9994573 0.03041763 -0.01264408 0.34210425] [-0.03033511 0.99951754 0.00666805 0.31253356] [ 0.0128408 -0.00628087 0.99989783 -0.17119357] [ 0. 0. 0. 1. ]] SLAMing on 7.657193469999999 meters Centerline goodness [0,1] 0.8833346150888257 Centerline is valid? [False, False] Translation: X:0.34, Y:0.32, Z:-0.17 [[ 0.99959482 0.02545497 -0.01273754 0.34107986] [-0.02543971 0.99967543 0.00135881 0.31551919] [ 0.012768 -0.00103422 0.99991795 -0.16974879] [ 0. 0. 0. 1. ]] SLAMing on 7.6871934699999995 meters Centerline goodness [0,1] 0.8814194008559201 Centerline is valid? [False, False] Translation: X:0.34, Y:0.31, Z:-0.17 [[ 0.99993714 0.00937918 -0.00614439 0.34087001] [-0.00936574 0.9999537 0.00221145 0.31474102] [ 0.00616485 -0.00215377 0.99997868 -0.17148669] [ 0. 0. 0. 1. ]] SLAMing on 7.71719347 meters Centerline goodness [0,1] 0.7657794292358636 Centerline is valid? [False, False] Translation: X:0.34, Y:0.31, Z:-0.17 [[ 0.99997155 -0.00740069 0.00145937 0.33769062] [ 0.00739736 0.99997005 0.00227553 0.31348022] [-0.00147617 -0.00226467 0.99999635 -0.17023373] [ 0. 0. 0. 1. ]] SLAMing on 7.747193469999999 meters Centerline goodness [0,1] 0.7130035798920991 Centerline is valid? [False, False] Translation: X:0.33, Y:0.31, Z:-0.17 [[ 0.99991182 -0.01315148 0.00184102 0.33434997] [ 0.01315706 0.99990879 -0.00305085 0.31395078] [-0.00180073 0.00307481 0.99999365 -0.16697294] [ 0. 0. 0. 1. ]] SLAMing on 7.777193469999999 meters Centerline goodness [0,1] 0.7008299798792756 Centerline is valid? [False, False] Translation: X:0.33, Y:0.31, Z:-0.17 [[ 0.99986816 -0.01602231 0.00263708 0.33067633] [ 0.01603359 0.99986216 -0.00431172 0.31268505] [-0.00256763 0.00435343 0.99998723 -0.16568436] [ 0. 0. 0. 1. ]] SLAMing on 7.80719347 meters Centerline goodness [0,1] 0.6909302443219181 Centerline is valid? [False, False] Translation: X:0.33, Y:0.31, Z:-0.17 [[ 0.99993942 -0.00517705 0.00971411 0.32608131] [ 0.00519988 0.99998378 -0.00232611 0.31258377] [-0.00970191 0.00237648 0.99995011 -0.17460726] [ 0. 0. 0. 1. ]] SLAMing on 7.83719347 meters Centerline goodness [0,1] 0.7980993964299473 Centerline is valid? [False, False] Translation: X:0.34, Y:0.32, Z:-0.17 [[ 9.99975805e-01 6.77143978e-03 1.59304289e-03 3.42087171e-01] [-6.77179146e-03 9.99977048e-01 2.15469276e-04 3.23353808e-01] [-1.59154729e-03 -2.26251817e-04 9.99998708e-01 -1.74674984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.867193469999999 meters Centerline goodness [0,1] 0.881508078994614 Centerline is valid? [False, False] Translation: X:0.35, Y:0.33, Z:-0.18 [[ 9.99904441e-01 1.37919236e-02 9.43868608e-04 3.47088504e-01] [-1.37970370e-02 9.99888886e-01 5.64430743e-03 3.28181716e-01] [-8.65917873e-04 -5.65679066e-03 9.99983625e-01 -1.78207972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8971934699999995 meters Centerline goodness [0,1] 0.8860367162044027 Centerline is valid? [False, False] Translation: X:0.37, Y:0.34, Z:-0.18 [[ 0.99964903 0.02516609 -0.00827519 0.36700211] [-0.02512329 0.99967065 0.00523599 0.33878893] [ 0.00840424 -0.00502625 0.99995205 -0.17716052] [ 0. 0. 0. 1. ]] SLAMing on 7.92719347 meters Centerline goodness [0,1] 0.8828645596381834 Centerline is valid? [False, False] Translation: X:0.37, Y:0.34, Z:-0.18 [[ 0.99949897 0.03037133 -0.00891066 0.37040334] [-0.03029534 0.99950448 0.00854326 0.34453183] [ 0.00916571 -0.00826902 0.9999238 -0.1784562 ] [ 0. 0. 0. 1. ]] SLAMing on 7.957193469999999 meters Centerline goodness [0,1] 0.8823058660335583 Centerline is valid? [False, False] Translation: X:0.37, Y:0.35, Z:-0.18 [[ 0.99949794 0.03032151 -0.00919127 0.37097989] [-0.03024986 0.99951165 0.00783656 0.34658098] [ 0.0094244 -0.0075546 0.99992705 -0.17803334] [ 0. 0. 0. 1. ]] SLAMing on 7.987193469999999 meters Centerline goodness [0,1] 0.885235814986223 Centerline is valid? [False, False] Translation: X:0.37, Y:0.35, Z:-0.18 [[ 0.99958837 0.0268904 -0.01000019 0.37267914] [-0.02685993 0.99963418 0.00316896 0.34929319] [ 0.01008174 -0.00289905 0.99994498 -0.17724617] [ 0. 0. 0. 1. ]] SLAMing on 8.01719347 meters Centerline goodness [0,1] 0.8837326943556976 Centerline is valid? [False, False] Translation: X:0.37, Y:0.35, Z:-0.18 [[ 9.99672835e-01 2.32433463e-02 -1.06756617e-02 3.74084395e-01] [-2.32507740e-02 9.99729500e-01 -5.72162954e-04 3.47776324e-01] [ 1.06594749e-02 8.20193159e-04 9.99942850e-01 -1.77235251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04719347 meters Centerline goodness [0,1] 0.8888770933411184 Centerline is valid? [False, False] Translation: X:0.38, Y:0.35, Z:-0.18 [[ 0.99973086 0.02007185 -0.01163294 0.37593417] [-0.02012212 0.99978862 -0.00422006 0.34713218] [ 0.01154578 0.00445301 0.99992343 -0.17676518] [ 0. 0. 0. 1. ]] SLAMing on 8.077193470000001 meters Centerline goodness [0,1] 0.8831817701173734 Centerline is valid? [False, False] Translation: X:0.38, Y:0.34, Z:-0.18 [[ 0.99977938 0.01698037 -0.01236371 0.37700429] [-0.01707175 0.99982745 -0.00732322 0.34454963] [ 0.01223723 0.00753267 0.99989675 -0.17599805] [ 0. 0. 0. 1. ]] SLAMing on 8.10719347 meters Centerline goodness [0,1] 0.8799915931063472 Centerline is valid? [False, False] Translation: X:0.38, Y:0.34, Z:-0.17 [[ 0.99983319 0.01319313 -0.01263089 0.3757228 ] [-0.01332726 0.99985506 -0.01059466 0.33963757] [ 0.01248928 0.01076123 0.9998641 -0.17375243] [ 0. 0. 0. 1. ]] SLAMing on 8.13719347 meters Centerline goodness [0,1] 0.8805974032732288 Centerline is valid? [False, False] Translation: X:0.39, Y:0.33, Z:-0.18 [[ 0.99993259 0.00911252 -0.00719578 0.38623811] [-0.00913021 0.99995537 -0.00242943 0.3330491 ] [ 0.00717332 0.00249497 0.99997116 -0.17806626] [ 0. 0. 0. 1. ]] SLAMing on 8.16719347 meters Centerline goodness [0,1] 0.877727016066937 Centerline is valid? [False, False] Translation: X:0.39, Y:0.32, Z:-0.18 [[ 0.99996929 0.00163207 -0.00766515 0.38556267] [-0.00169502 0.99996483 -0.00821344 0.32316543] [ 0.00765148 0.00822619 0.99993689 -0.17679527] [ 0. 0. 0. 1. ]] SLAMing on 8.19719347 meters Centerline goodness [0,1] 0.8646681376651704 Centerline is valid? [False, False] Translation: X:0.39, Y:0.32, Z:-0.18 [[ 0.99996524 -0.00157424 -0.00818787 0.38719683] [ 0.00148986 0.99994582 -0.01030242 0.31738134] [ 0.00820364 0.01028987 0.99991341 -0.1779516 ] [ 0. 0. 0. 1. ]] SLAMing on 8.22719347 meters Centerline goodness [0,1] 0.8057677473935654 Centerline is valid? [False, False] Translation: X:0.38, Y:0.30, Z:-0.18 [[ 0.99993393 -0.01094293 -0.00351855 0.37504675] [ 0.01091878 0.9999172 -0.00681034 0.30170047] [ 0.00359278 0.00677147 0.99997062 -0.17981174] [ 0. 0. 0. 1. ]] SLAMing on 8.25719347 meters Centerline goodness [0,1] 0.7873158390793193 Centerline is valid? [False, False] Translation: X:0.37, Y:0.30, Z:-0.18 [[ 0.9999304 -0.01121001 -0.00367844 0.37475885] [ 0.01118826 0.99992012 -0.00588012 0.29695437] [ 0.00374406 0.00583855 0.99997595 -0.17961557] [ 0. 0. 0. 1. ]] SLAMing on 8.28719347 meters Centerline goodness [0,1] 0.7743136916360407 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 0.99993651 -0.01052849 -0.0040146 0.3764333 ] [ 0.01051195 0.99993626 -0.00411961 0.29191461] [ 0.00405772 0.00407715 0.99998346 -0.18143951] [ 0. 0. 0. 1. ]] SLAMing on 8.317193470000001 meters Centerline goodness [0,1] 0.7885986916531406 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 0.99991194 -0.01227937 -0.00503219 0.3813765 ] [ 0.01224974 0.9999077 -0.00587649 0.2879317 ] [ 0.00510388 0.00581433 0.99997007 -0.18478118] [ 0. 0. 0. 1. ]] SLAMing on 8.34719347 meters Centerline goodness [0,1] 0.7840964800470634 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 0.99994683 -0.0091896 -0.00467766 0.37987613] [ 0.00917974 0.99995561 -0.00212522 0.28547001] [ 0.00469698 0.00208217 0.9999868 -0.1843508 ] [ 0. 0. 0. 1. ]] SLAMing on 8.37719347 meters Centerline goodness [0,1] 0.7838853941419304 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.19 [[ 0.99994731 -0.00875134 -0.00536599 0.38174695] [ 0.00874236 0.99996035 -0.00169542 0.28591097] [ 0.00538062 0.00164842 0.99998417 -0.18503495] [ 0. 0. 0. 1. ]] SLAMing on 8.407193470000001 meters Centerline goodness [0,1] 0.7673424253593808 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.19 [[ 0.99994742 -0.00844962 -0.00581122 0.38332876] [ 0.00844255 0.99996359 -0.00124017 0.28612886] [ 0.00582148 0.00119104 0.99998235 -0.18606599] [ 0. 0. 0. 1. ]] SLAMing on 8.43719347 meters Centerline goodness [0,1] 0.7484957286121084 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 0.99993619 -0.01010884 -0.00504265 0.37983267] [ 0.01009592 0.9999457 -0.00258184 0.28788476] [ 0.00506847 0.00253077 0.99998395 -0.18374306] [ 0. 0. 0. 1. ]] SLAMing on 8.46719347 meters Centerline goodness [0,1] 0.7289220392388549 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 0.99991598 -0.01220939 -0.00435551 0.37625068] [ 0.01219242 0.99991805 -0.00390303 0.28615469] [ 0.0044028 0.00384959 0.9999829 -0.18128057] [ 0. 0. 0. 1. ]] SLAMing on 8.497193470000001 meters Centerline goodness [0,1] 0.7166789667896679 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 0.9999154 -0.01224785 -0.00438026 0.37616625] [ 0.01223176 0.99991841 -0.00368252 0.28536777] [ 0.00442501 0.00362863 0.99998363 -0.18121834] [ 0. 0. 0. 1. ]] SLAMing on 8.52719347 meters Centerline goodness [0,1] 0.7200078635671106 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 9.99953851e-01 -8.62372592e-03 -4.23402894e-03 3.76310126e-01] [ 8.62665975e-03 9.99962562e-01 6.75143129e-04 2.85248919e-01] [ 4.22804817e-03 -7.11637499e-04 9.99990809e-01 -1.82628973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55719347 meters Centerline goodness [0,1] 0.7200078635671106 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 9.99953851e-01 -8.62372592e-03 -4.23402894e-03 3.76310126e-01] [ 8.62665975e-03 9.99962562e-01 6.75143129e-04 2.85248919e-01] [ 4.22804817e-03 -7.11637499e-04 9.99990809e-01 -1.82628973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58719347 meters Centerline goodness [0,1] 0.7114494038821559 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 9.99957561e-01 -8.06708198e-03 -4.44956876e-03 3.77715708e-01] [ 8.07151754e-03 9.99966945e-01 9.79796645e-04 2.86309027e-01] [ 4.44151758e-03 -1.01566984e-03 9.99989621e-01 -1.83730964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61719347 meters Centerline goodness [0,1] 0.7604615460803249 Centerline is valid? [False, False] Translation: X:0.38, Y:0.29, Z:-0.18 [[ 0.99998459 -0.00384121 -0.00400784 0.37778079] [ 0.00385762 0.99998417 0.00409622 0.29085738] [ 0.00399205 -0.00411162 0.99998358 -0.18445167] [ 0. 0. 0. 1. ]] SLAMing on 8.647193470000001 meters Centerline goodness [0,1] 0.8045219734970428 Centerline is valid? [False, False] Translation: X:0.38, Y:0.30, Z:-0.18 [[ 9.99994097e-01 6.09986970e-04 -3.38147844e-03 3.77265232e-01] [-6.00958982e-04 9.99996254e-01 2.67020816e-03 3.01303665e-01] [ 3.38309457e-03 -2.66816027e-03 9.99990718e-01 -1.78548291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67719347 meters Centerline goodness [0,1] 0.8182366391115354 Centerline is valid? [False, False] Translation: X:0.38, Y:0.31, Z:-0.18 [[ 0.99999238 0.00131541 -0.00367554 0.37875835] [-0.00130721 0.99999665 0.0022345 0.30647313] [ 0.00367847 -0.00222968 0.99999075 -0.1791202 ] [ 0. 0. 0. 1. ]] SLAMing on 8.70719347 meters Centerline goodness [0,1] 0.81178557850716 Centerline is valid? [False, False] Translation: X:0.38, Y:0.31, Z:-0.18 [[ 0.99999119 0.00248226 -0.00338368 0.38019388] [-0.00247288 0.99999309 0.00277558 0.31367412] [ 0.00339055 -0.00276719 0.99999042 -0.18170703] [ 0. 0. 0. 1. ]] SLAMing on 8.737193470000001 meters Centerline goodness [0,1] 0.7802939907080657 Centerline is valid? [False, False] Translation: X:0.38, Y:0.32, Z:-0.18 [[ 9.99995576e-01 9.06707857e-04 -2.83299151e-03 3.78836886e-01] [-9.03001648e-04 9.99998735e-01 1.30923699e-03 3.17691686e-01] [ 2.83417503e-03 -1.30667300e-03 9.99995130e-01 -1.81838864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76719347 meters Centerline goodness [0,1] 0.7134972146982164 Centerline is valid? [False, False] Translation: X:0.38, Y:0.32, Z:-0.18 [[ 9.99996856e-01 -1.40544779e-03 -2.07650526e-03 3.75884795e-01] [ 1.40540263e-03 9.99999012e-01 -2.32031354e-05 3.19762059e-01] [ 2.07653582e-03 2.02847365e-05 9.99997844e-01 -1.81039370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79719347 meters Centerline goodness [0,1] 0.722638757388879 Centerline is valid? [False, False] Translation: X:0.38, Y:0.32, Z:-0.18 [[ 9.99995811e-01 -1.56167558e-03 -2.43723338e-03 3.76955317e-01] [ 1.56166311e-03 9.99998781e-01 -7.01625442e-06 3.21075754e-01] [ 2.43724137e-03 3.21008756e-06 9.99997030e-01 -1.81715268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827193470000001 meters Centerline goodness [0,1] 0.7300763280306339 Centerline is valid? [False, False] Translation: X:0.38, Y:0.32, Z:-0.19 [[ 9.99992994e-01 3.97776430e-04 -3.72205205e-03 3.83741311e-01] [-3.91027374e-04 9.99998279e-01 1.81381397e-03 3.23800117e-01] [ 3.72276714e-03 -1.81234584e-03 9.99991428e-01 -1.87446075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85719347 meters Centerline goodness [0,1] 0.7374087685698018 Centerline is valid? [False, False] Translation: X:0.39, Y:0.33, Z:-0.19 [[ 0.99998167 0.0041498 -0.00440809 0.3902989 ] [-0.00413278 0.999984 0.00386347 0.32672662] [ 0.00442405 -0.00384518 0.99998282 -0.19260908] [ 0. 0. 0. 1. ]] SLAMing on 8.88719347 meters Centerline goodness [0,1] 0.7629213192051607 Centerline is valid? [False, False] Translation: X:0.39, Y:0.33, Z:-0.19 [[ 0.99997151 0.00555377 -0.00511137 0.3933559 ] [-0.00553683 0.99997916 0.00332134 0.33072553] [ 0.00512971 -0.00329295 0.99998142 -0.19318069] [ 0. 0. 0. 1. ]] SLAMing on 8.91719347 meters Centerline goodness [0,1] 0.848267339748646 Centerline is valid? [False, False] Translation: X:0.40, Y:0.34, Z:-0.20 [[ 0.99985349 0.01617098 -0.00561292 0.39822349] [-0.01610481 0.99980255 0.01164032 0.33590355] [ 0.00580005 -0.01154822 0.9999165 -0.19628255] [ 0. 0. 0. 1. ]] SLAMing on 8.94719347 meters Centerline goodness [0,1] 0.8949233536470778 Centerline is valid? [False, False] Translation: X:0.40, Y:0.34, Z:-0.20 [[ 0.9995578 0.02907552 -0.006231 0.4049053 ] [-0.02892871 0.99932865 0.02248045 0.34193779] [ 0.00688045 -0.02229025 0.99972786 -0.201196 ] [ 0. 0. 0. 1. ]] SLAMing on 8.97719347 meters Centerline goodness [0,1] 0.8938574541932359 Centerline is valid? [False, False] Translation: X:0.41, Y:0.34, Z:-0.20 [[ 0.9993942 0.0341575 -0.00667088 0.40759551] [-0.03396887 0.999069 0.0265943 0.34394655] [ 0.00757306 -0.02635159 0.99962405 -0.20260436] [ 0. 0. 0. 1. ]] SLAMing on 9.00719347 meters Centerline goodness [0,1] 0.888054257072604 Centerline is valid? [False, False] Translation: X:0.41, Y:0.35, Z:-0.20 [[ 0.99912889 0.04112982 -0.00705732 0.41170671] [-0.04089165 0.99867946 0.03109987 0.34647444] [ 0.00832713 -0.03078419 0.99949137 -0.20397186] [ 0. 0. 0. 1. ]] SLAMing on 9.03719347 meters Centerline goodness [0,1] 0.887559029474027 Centerline is valid? [False, False] Translation: X:0.41, Y:0.35, Z:-0.20 [[ 0.99902756 0.04333351 -0.00813228 0.4146257 ] [-0.04309992 0.9987063 0.02698371 0.35024915] [ 0.00929106 -0.02660697 0.99960279 -0.19609896] [ 0. 0. 0. 1. ]] SLAMing on 9.067193470000001 meters Centerline goodness [0,1] 0.8832600314926426 Centerline is valid? [False, False] Translation: X:0.42, Y:0.35, Z:-0.19 [[ 0.99913618 0.04059257 -0.0088954 0.41539673] [-0.04042429 0.99901419 0.01834462 0.35422142] [ 0.00963129 -0.01796918 0.99979215 -0.18697011] [ 0. 0. 0. 1. ]] SLAMing on 9.09719347 meters Centerline goodness [0,1] 0.8825212579295452 Centerline is valid? [False, False] Translation: X:0.41, Y:0.35, Z:-0.18 [[ 0.99917028 0.03976382 -0.00880871 0.41163623] [-0.03960051 0.99905351 0.0179968 0.34806114] [ 0.00951599 -0.01763304 0.99979924 -0.18211923] [ 0. 0. 0. 1. ]] SLAMing on 9.12719347 meters Centerline goodness [0,1] 0.8747912303491424 Centerline is valid? [False, False] Translation: X:0.41, Y:0.34, Z:-0.18 [[ 0.99937832 0.03368955 -0.01039209 0.41451056] [-0.03355769 0.9993572 0.01261216 0.33657679] [ 0.01081031 -0.01225559 0.99986646 -0.18183398] [ 0. 0. 0. 1. ]] SLAMing on 9.157193470000001 meters Centerline goodness [0,1] 0.8762114884563864 Centerline is valid? [False, False] Translation: X:0.42, Y:0.33, Z:-0.18 [[ 0.99955679 0.02722411 -0.01204434 0.41714089] [-0.02715772 0.99961524 0.00564191 0.33268527] [ 0.0121933 -0.00531231 0.99991155 -0.18050879] [ 0. 0. 0. 1. ]] SLAMing on 9.18719347 meters Centerline goodness [0,1] 0.8738962686760403 Centerline is valid? [False, False] Translation: X:0.42, Y:0.32, Z:-0.18 [[ 9.99642588e-01 2.26230408e-02 -1.42440916e-02 4.20690445e-01] [-2.26102361e-02 9.99743795e-01 1.05936283e-03 3.22572938e-01] [ 1.42644082e-02 -7.36921921e-04 9.99897987e-01 -1.78840813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21719347 meters Centerline goodness [0,1] 0.8749489274770174 Centerline is valid? [False, False] Translation: X:0.43, Y:0.31, Z:-0.18 [[ 9.99610013e-01 2.25455365e-02 -1.64778692e-02 4.26988077e-01] [-2.25359067e-02 9.99745738e-01 7.69880314e-04 3.09760825e-01] [ 1.64910368e-02 -3.98236349e-04 9.99863934e-01 -1.79757954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247193470000001 meters Centerline goodness [0,1] 0.870788793758549 Centerline is valid? [False, False] Translation: X:0.43, Y:0.30, Z:-0.18 [[ 0.99963833 0.02024343 -0.01770365 0.43027155] [-0.02027226 0.99979344 -0.00145045 0.30332958] [ 0.01767063 0.00180881 0.99984223 -0.18048301] [ 0. 0. 0. 1. ]] SLAMing on 9.27719347 meters Centerline goodness [0,1] 0.8679552691994372 Centerline is valid? [False, False] Translation: X:0.43, Y:0.29, Z:-0.18 [[ 0.99971544 0.01440597 -0.01901341 0.43315122] [-0.01452763 0.99987477 -0.00627635 0.28848952] [ 0.01892061 0.00655078 0.99979953 -0.18069502] [ 0. 0. 0. 1. ]] SLAMing on 9.30719347 meters Centerline goodness [0,1] 0.8691122205339701 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:-0.18 [[ 0.99978233 0.00689927 -0.01968977 0.43144708] [-0.00710067 0.999923 -0.01017727 0.27527458] [ 0.01961804 0.01031487 0.99975434 -0.17873578] [ 0. 0. 0. 1. ]] SLAMing on 9.33719347 meters Centerline goodness [0,1] 0.8752217346652974 Centerline is valid? [False, False] Translation: X:0.43, Y:0.26, Z:-0.17 [[ 0.99979233 -0.00363221 -0.02005242 0.42842332] [ 0.00326683 0.99982859 -0.01822434 0.26210596] [ 0.02011517 0.01815505 0.99963282 -0.17449397] [ 0. 0. 0. 1. ]] SLAMing on 9.36719347 meters Centerline goodness [0,1] 0.8719557026008639 Centerline is valid? [False, False] Translation: X:0.43, Y:0.25, Z:-0.17 [[ 0.99976763 -0.00786406 -0.02007108 0.42727926] [ 0.00744297 0.99975241 -0.02096953 0.25339032] [ 0.02023102 0.02081527 0.99957863 -0.17336452] [ 0. 0. 0. 1. ]] SLAMing on 9.39719347 meters Centerline goodness [0,1] 0.8841594345531001 Centerline is valid? [False, False] Translation: X:0.43, Y:0.24, Z:-0.17 [[ 0.99962846 -0.01765213 -0.02076863 0.42685932] [ 0.01705063 0.99944002 -0.02879118 0.23932025] [ 0.02126522 0.02842636 0.99936967 -0.17110976] [ 0. 0. 0. 1. ]] SLAMing on 9.42719347 meters Centerline goodness [0,1] 0.8817525297978357 Centerline is valid? [False, False] Translation: X:0.42, Y:0.23, Z:-0.17 [[ 0.99956553 -0.02092816 -0.02075478 0.42442776] [ 0.02030486 0.9993496 -0.02980072 0.22797666] [ 0.02136495 0.02936635 0.99934036 -0.16858629] [ 0. 0. 0. 1. ]] SLAMing on 9.45719347 meters Centerline goodness [0,1] 0.8956900852439104 Centerline is valid? [False, False] Translation: X:0.42, Y:0.22, Z:-0.17 [[ 0.99959156 -0.01946606 -0.0209234 0.42355159] [ 0.01889506 0.99945279 -0.02714967 0.21918955] [ 0.02144044 0.02674324 0.99941238 -0.1674309 ] [ 0. 0. 0. 1. ]] SLAMing on 9.487193470000001 meters Centerline goodness [0,1] 0.8961089243079305 Centerline is valid? [False, False] Translation: X:0.42, Y:0.21, Z:-0.17 [[ 0.99967067 -0.01460931 -0.02109791 0.42495965] [ 0.01415974 0.99967279 -0.02130313 0.21320239] [ 0.02140223 0.02099737 0.99955043 -0.16947156] [ 0. 0. 0. 1. ]] SLAMing on 9.51719347 meters Centerline goodness [0,1] 0.8995547073791349 Centerline is valid? [False, False] Translation: X:0.43, Y:0.21, Z:-0.17 [[ 0.9997394 -0.00867156 -0.02111708 0.42686051] [ 0.00835945 0.99985518 -0.0148239 0.20561225] [ 0.02124257 0.01464351 0.99966711 -0.17190125] [ 0. 0. 0. 1. ]] SLAMing on 9.54719347 meters Centerline goodness [0,1] 0.9039352827167776 Centerline is valid? [False, False] Translation: X:0.43, Y:0.20, Z:-0.17 [[ 0.99977415 -0.00440201 -0.02079133 0.4252345 ] [ 0.00419506 0.99994133 -0.00998668 0.20067095] [ 0.02083407 0.0098972 0.99973396 -0.17083796] [ 0. 0. 0. 1. ]] SLAMing on 9.577193470000001 meters Centerline goodness [0,1] 0.9062368752624947 Centerline is valid? [False, False] Translation: X:0.43, Y:0.20, Z:-0.17 [[ 0.99977606 -0.00398336 -0.0207835 0.42542619] [ 0.00379924 0.99995325 -0.00889128 0.19714327] [ 0.02081795 0.00881033 0.99974446 -0.17129827] [ 0. 0. 0. 1. ]] SLAMing on 9.60719347 meters Centerline goodness [0,1] 0.9076034849305932 Centerline is valid? [False, False] Translation: X:0.43, Y:0.19, Z:-0.17 [[ 0.999759 -0.00680022 -0.02087342 0.4260339 ] [ 0.00658066 0.99992249 -0.01056906 0.19041316] [ 0.02094367 0.01042915 0.99972626 -0.17194495] [ 0. 0. 0. 1. ]] SLAMing on 9.63719347 meters Centerline goodness [0,1] 0.9067099027188825 Centerline is valid? [False, False] Translation: X:0.43, Y:0.18, Z:-0.17 [[ 0.99985096 -0.01015835 -0.01395919 0.43188818] [ 0.01013902 0.99994754 -0.00145486 0.18348501] [ 0.01397324 0.00131311 0.99990151 -0.17308016] [ 0. 0. 0. 1. ]] SLAMing on 9.66719347 meters Centerline goodness [0,1] 0.9098054668381103 Centerline is valid? [False, False] Translation: X:0.43, Y:0.18, Z:-0.17 [[ 9.99851364e-01 -1.01308806e-02 -1.39504207e-02 4.31054317e-01] [ 1.01181246e-02 9.99948326e-01 -9.84655809e-04 1.81739012e-01] [ 1.39596752e-02 8.43357359e-04 9.99902203e-01 -1.71965884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69719347 meters Centerline goodness [0,1] 0.9062104979588453 Centerline is valid? [False, False] Translation: X:0.43, Y:0.18, Z:-0.17 [[ 9.99864416e-01 -8.75992567e-03 -1.39432235e-02 4.31227467e-01] [ 8.76723415e-03 9.99961460e-01 4.63120348e-04 1.78725219e-01] [ 1.39386292e-02 -5.85301062e-04 9.99902681e-01 -1.71938376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72719347 meters Centerline goodness [0,1] 0.9059641116066798 Centerline is valid? [False, False] Translation: X:0.43, Y:0.18, Z:-0.18 [[ 9.99961936e-01 2.15655655e-04 -8.72239643e-03 4.27114337e-01] [-2.11037590e-04 9.99999837e-01 5.30366050e-04 1.75747607e-01] [ 8.72250939e-03 -5.28505109e-04 9.99961819e-01 -1.78713258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75719347 meters Centerline goodness [0,1] 0.909528072111081 Centerline is valid? [False, False] Translation: X:0.43, Y:0.18, Z:-0.18 [[ 9.99959348e-01 1.09058729e-03 -8.95053781e-03 4.28074479e-01] [-1.08352258e-03 9.99999098e-01 7.94116777e-04 1.76374819e-01] [ 8.95139579e-03 -7.84386386e-04 9.99959628e-01 -1.79141666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78719347 meters Centerline goodness [0,1] 0.9131541374386989 Centerline is valid? [False, False] Translation: X:0.43, Y:0.17, Z:-0.18 [[ 0.9999469 0.00379266 -0.00958215 0.43173917] [-0.00376302 0.99998809 0.00310886 0.17488627] [ 0.00959383 -0.00307264 0.99994926 -0.18194531] [ 0. 0. 0. 1. ]] SLAMing on 9.817193470000001 meters Centerline goodness [0,1] 0.9138078455089571 Centerline is valid? [False, False] Translation: X:0.43, Y:0.17, Z:-0.18 [[ 0.99993575 0.00510513 -0.01012116 0.43443091] [-0.00505479 0.99997476 0.00499364 0.17210018] [ 0.0101464 -0.00494216 0.99993631 -0.1842604 ] [ 0. 0. 0. 1. ]] SLAMing on 9.84719347 meters Centerline goodness [0,1] 0.9083778891963301 Centerline is valid? [False, False] Translation: X:0.44, Y:0.17, Z:-0.19 [[ 0.99994121 0.00216068 -0.01062556 0.43659652] [-0.00213509 0.9999948 0.00241841 0.17025891] [ 0.01063073 -0.00239558 0.99994062 -0.18579297] [ 0. 0. 0. 1. ]] SLAMing on 9.87719347 meters Centerline goodness [0,1] 0.9074339928843393 Centerline is valid? [False, False] Translation: X:0.44, Y:0.16, Z:-0.19 [[ 0.99993134 -0.00511153 -0.01054436 0.43581697] [ 0.0050781 0.99998201 -0.00319402 0.16237914] [ 0.0105605 0.00314026 0.99993931 -0.18520781] [ 0. 0. 0. 1. ]] SLAMing on 9.907193470000001 meters Centerline goodness [0,1] 0.9065237748413276 Centerline is valid? [False, False] Translation: X:0.43, Y:0.15, Z:-0.18 [[ 0.99986646 -0.01284635 -0.01010127 0.43312396] [ 0.0127559 0.99987842 -0.00896849 0.15299627] [ 0.01021525 0.00883844 0.99990876 -0.18287261] [ 0. 0. 0. 1. ]] SLAMing on 9.93719347 meters Centerline goodness [0,1] 0.9093803983599392 Centerline is valid? [False, False] Translation: X:0.43, Y:0.15, Z:-0.18 [[ 0.99981671 -0.01646965 -0.00976208 0.43101923] [ 0.01635938 0.99980265 -0.01127087 0.14730823] [ 0.00994578 0.0111091 0.99988883 -0.18098523] [ 0. 0. 0. 1. ]] SLAMing on 9.96719347 meters Centerline goodness [0,1] 0.9079830007083038 Centerline is valid? [False, False] Translation: X:0.43, Y:0.14, Z:-0.18 [[ 0.99982391 -0.0160019 -0.00980208 0.4312173 ] [ 0.01590155 0.99982122 -0.01023072 0.14451515] [ 0.00996404 0.01007305 0.99989962 -0.18125922] [ 0. 0. 0. 1. ]] SLAMing on 9.997193470000001 meters Centerline goodness [0,1] 0.9080892289141598 Centerline is valid? [False, False] Translation: X:0.43, Y:0.14, Z:-0.18 [[ 0.99984566 -0.01436849 -0.01010977 0.43298572] [ 0.01429019 0.99986766 -0.00777532 0.13859991] [ 0.01022015 0.00762965 0.99991867 -0.18294705] [ 0. 0. 0. 1. ]] SLAMing on 10.02719347 meters Centerline goodness [0,1] 0.904496253122398 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:-0.19 [[ 0.99987615 -0.01134147 -0.01091092 0.43856373] [ 0.01129851 0.99992821 -0.00399031 0.1320814 ] [ 0.01095539 0.00386654 0.99993251 -0.18843168] [ 0. 0. 0. 1. ]] SLAMing on 10.05719347 meters Centerline goodness [0,1] 0.9044812794136021 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:-0.19 [[ 0.99988418 -0.01002352 -0.01145213 0.44119646] [ 0.00999766 0.99994735 -0.00231235 0.12973129] [ 0.01147471 0.00219758 0.99993175 -0.19059698] [ 0. 0. 0. 1. ]] SLAMing on 10.08719347 meters Centerline goodness [0,1] 0.9047987454260324 Centerline is valid? [False, False] Translation: X:0.44, Y:0.13, Z:-0.19 [[ 0.99991711 -0.00625711 -0.0112526 0.4401667 ] [ 0.0062827 0.99997775 0.00224041 0.12576684] [ 0.01123833 -0.00231092 0.99993418 -0.18997265] [ 0. 0. 0. 1. ]] SLAMing on 10.11719347 meters Centerline goodness [0,1] 0.9060002510565296 Centerline is valid? [False, False] Translation: X:0.44, Y:0.12, Z:-0.19 [[ 0.99991805 -0.0059492 -0.01133613 0.43961369] [ 0.00599341 0.99997455 0.00387022 0.11875101] [ 0.01131282 -0.00393784 0.99992825 -0.18913726] [ 0. 0. 0. 1. ]] SLAMing on 10.14719347 meters Centerline goodness [0,1] 0.9046457825298568 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:-0.19 [[ 0.99989432 -0.00843529 -0.0118403 0.44172974] [ 0.00845879 0.99996235 0.0019365 0.11491972] [ 0.01182352 -0.00203645 0.99992803 -0.19049076] [ 0. 0. 0. 1. ]] SLAMing on 10.17719347 meters Centerline goodness [0,1] 0.9043336400903539 Centerline is valid? [False, False] Translation: X:0.44, Y:0.11, Z:-0.19 [[ 0.99987249 -0.01047451 -0.01205319 0.4426977 ] [ 0.01049377 0.99994376 0.00153551 0.10569667] [ 0.01203643 -0.0016618 0.99992618 -0.19134808] [ 0. 0. 0. 1. ]] SLAMing on 10.20719347 meters Centerline goodness [0,1] 0.9052928280613843 Centerline is valid? [False, False] Translation: X:0.44, Y:0.10, Z:-0.19 [[ 0.99986187 -0.01152633 -0.01197474 0.44177445] [ 0.01155031 0.99993142 0.00193575 0.0966026 ] [ 0.01195161 -0.0020738 0.99992643 -0.19024154] [ 0. 0. 0. 1. ]] SLAMing on 10.237193470000001 meters Centerline goodness [0,1] 0.9048253743465856 Centerline is valid? [False, False] Translation: X:0.44, Y:0.09, Z:-0.19 [[ 0.9998701 -0.01060635 -0.0121361 0.44230868] [ 0.01065184 0.99993646 0.0036898 0.09192477] [ 0.01209619 -0.00381859 0.99991955 -0.19052417] [ 0. 0. 0. 1. ]] SLAMing on 10.26719347 meters Centerline goodness [0,1] 0.9053690294847985 Centerline is valid? [False, False] Translation: X:0.44, Y:0.08, Z:-0.19 [[ 0.99988478 -0.00877241 -0.01238813 0.44299709] [ 0.00885213 0.99994037 0.00639517 0.08343329] [ 0.01233129 -0.0065041 0.99990281 -0.19072546] [ 0. 0. 0. 1. ]] SLAMing on 10.29719347 meters Centerline goodness [0,1] 0.9088199120301849 Centerline is valid? [False, False] Translation: X:0.44, Y:0.08, Z:-0.19 [[ 0.9998958 -0.00712843 -0.01255312 0.44359176] [ 0.00723729 0.99993641 0.00864809 0.07869989] [ 0.01249067 -0.00873804 0.99988381 -0.19094448] [ 0. 0. 0. 1. ]] SLAMing on 10.327193470000001 meters Centerline goodness [0,1] 0.9059855714256013 Centerline is valid? [False, False] Translation: X:0.44, Y:0.08, Z:-0.19 [[ 0.999896 -0.00663524 -0.01280498 0.44398489] [ 0.00675401 0.99993437 0.00925391 0.0779774 ] [ 0.01274274 -0.00933943 0.99987519 -0.19076177] [ 0. 0. 0. 1. ]] SLAMing on 10.35719347 meters Centerline goodness [0,1] 0.9051219208241599 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:-0.19 [[ 0.9998671 -0.0098649 -0.0129791 0.44412995] [ 0.0099554 0.99992645 0.00692646 0.07317623] [ 0.01290982 -0.00705475 0.99989178 -0.1903733 ] [ 0. 0. 0. 1. ]] SLAMing on 10.38719347 meters Centerline goodness [0,1] 0.9067301269205077 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:-0.19 [[ 0.99970955 -0.02050208 -0.01266787 0.44319121] [ 0.02047323 0.99978751 -0.00240262 0.06596461] [ 0.01271443 0.00214257 0.99991687 -0.18956154] [ 0. 0. 0. 1. ]] SLAMing on 10.41719347 meters Centerline goodness [0,1] 0.9074390142369495 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.19 [[ 9.99460149e-01 -3.23048142e-02 -5.98411276e-03 4.47906641e-01] [ 3.23095027e-02 9.99477675e-01 6.88461985e-04 6.12490824e-02] [ 5.95874647e-03 -8.81434026e-04 9.99981858e-01 -1.92017556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44719347 meters Centerline goodness [0,1] 0.9074390142369495 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.19 [[ 9.99460149e-01 -3.23048142e-02 -5.98411276e-03 4.47906641e-01] [ 3.23095027e-02 9.99477675e-01 6.88461985e-04 6.12490824e-02] [ 5.95874647e-03 -8.81434026e-04 9.99981858e-01 -1.92017556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47719347 meters Centerline goodness [0,1] 0.9039166666666667 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.19 [[ 9.99426104e-01 -3.33526676e-02 -5.92129365e-03 4.47044112e-01] [ 3.33577789e-02 9.99443180e-01 7.66529079e-04 5.92233880e-02] [ 5.89243077e-03 -9.63610375e-04 9.99982175e-01 -1.91110972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50719347 meters Centerline goodness [0,1] 0.8824484021304927 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.19 [[ 0.99925551 -0.03815033 -0.00574266 0.44626553] [ 0.0381316 0.99926716 -0.00333552 0.05765088] [ 0.0058657 0.00311406 0.99997795 -0.19014365] [ 0. 0. 0. 1. ]] SLAMing on 10.53719347 meters Centerline goodness [0,1] 0.8834599771000312 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.19 [[ 0.9992401 -0.03857163 -0.00560862 0.4464359 ] [ 0.03855129 0.99924981 -0.00369042 0.05796306] [ 0.00574676 0.00347139 0.99997746 -0.19074205] [ 0. 0. 0. 1. ]] SLAMing on 10.56719347 meters Centerline goodness [0,1] 0.8829202530332884 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.19 [[ 9.99380843e-01 -3.47170413e-02 -5.71467925e-03 4.47215809e-01] [ 3.47180486e-02 9.99397144e-01 7.71380233e-05 5.88774345e-02] [ 5.70855611e-03 -2.75492775e-04 9.99983668e-01 -1.91957286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59719347 meters Centerline goodness [0,1] 0.9047906686107061 Centerline is valid? [False, False] Translation: X:0.45, Y:0.07, Z:-0.19 [[ 0.99963316 -0.02651126 -0.00554053 0.44705985] [ 0.02654518 0.99962875 0.00614091 0.0656171 ] [ 0.00537567 -0.00628573 0.9999658 -0.1922912 ] [ 0. 0. 0. 1. ]] SLAMing on 10.62719347 meters Centerline goodness [0,1] 0.9031481020018274 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:-0.19 [[ 0.99987784 -0.0147788 -0.00508908 0.4455752 ] [ 0.01484878 0.99979175 0.01399922 0.07657282] [ 0.00488113 -0.01407307 0.99988906 -0.19010867] [ 0. 0. 0. 1. ]] SLAMing on 10.657193470000001 meters Centerline goodness [0,1] 0.901563899127465 Centerline is valid? [False, False] Translation: X:0.45, Y:0.08, Z:-0.19 [[ 0.99992684 -0.01094321 -0.00515387 0.44564989] [ 0.01102666 0.99980387 0.01645097 0.08283539] [ 0.00497283 -0.0165066 0.99985139 -0.19008445] [ 0. 0. 0. 1. ]] SLAMing on 10.68719347 meters Centerline goodness [0,1] 0.9005098324836125 Centerline is valid? [False, False] Translation: X:0.45, Y:0.09, Z:-0.19 [[ 0.99997296 -0.00481469 -0.00555826 0.44769074] [ 0.00493112 0.99976467 0.02112557 0.09143721] [ 0.00545524 -0.02115241 0.99976138 -0.1919007 ] [ 0. 0. 0. 1. ]] SLAMing on 10.71719347 meters Centerline goodness [0,1] 0.8991361049964697 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:-0.19 [[ 0.999947 -0.0083911 -0.0059654 0.4496478 ] [ 0.00848746 0.99983085 0.01631697 0.09681606] [ 0.00582748 -0.01636674 0.99984907 -0.19319314] [ 0. 0. 0. 1. ]] SLAMing on 10.747193470000001 meters Centerline goodness [0,1] 0.8993464052287582 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:-0.20 [[ 0.99991089 -0.01156398 -0.00666963 0.45300507] [ 0.01164803 0.99985145 0.01270408 0.09818797] [ 0.00652173 -0.01278064 0.99989706 -0.19568889] [ 0. 0. 0. 1. ]] SLAMing on 10.77719347 meters Centerline goodness [0,1] 0.8984271248339973 Centerline is valid? [False, False] Translation: X:0.46, Y:0.10, Z:-0.20 [[ 0.99986295 -0.01484794 -0.00732294 0.45712421] [ 0.01491799 0.99984257 0.00960651 0.09838635] [ 0.00717915 -0.00971443 0.99992704 -0.19942421] [ 0. 0. 0. 1. ]] SLAMing on 10.80719347 meters Centerline goodness [0,1] 0.8971896418824608 Centerline is valid? [False, False] Translation: X:0.46, Y:0.10, Z:-0.20 [[ 0.99978174 -0.01946778 -0.00758193 0.45777414] [ 0.01951289 0.99979207 0.00592222 0.09687902] [ 0.00746506 -0.00606888 0.99995372 -0.19967665] [ 0. 0. 0. 1. ]] SLAMing on 10.83719347 meters Centerline goodness [0,1] 0.893848009650181 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99977226 -0.01974844 -0.00808929 0.45920085] [ 0.01980387 0.99978055 0.00683136 0.0939071 ] [ 0.0079526 -0.00699001 0.99994395 -0.20068344] [ 0. 0. 0. 1. ]] SLAMing on 10.86719347 meters Centerline goodness [0,1] 0.8830447090167347 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99970125 -0.02277362 -0.00887558 0.46261011] [ 0.02281975 0.99972643 0.00513084 0.08928092] [ 0.0087563 -0.00533185 0.99994745 -0.20338162] [ 0. 0. 0. 1. ]] SLAMing on 10.89719347 meters Centerline goodness [0,1] 0.8949290484140233 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99975717 -0.02035571 -0.00844062 0.46013965] [ 0.02041682 0.9997655 0.00721815 0.0870519 ] [ 0.00829171 -0.00738873 0.99993833 -0.20099899] [ 0. 0. 0. 1. ]] SLAMing on 10.92719347 meters Centerline goodness [0,1] 0.8966134877327446 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.9997672 -0.019927 -0.00827426 0.458535 ] [ 0.01997982 0.99978021 0.00635142 0.09008257] [ 0.00814587 -0.00651526 0.9999456 -0.19851299] [ 0. 0. 0. 1. ]] SLAMing on 10.95719347 meters Centerline goodness [0,1] 0.8936796609107803 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99989474 -0.01215578 -0.00792126 0.45576677] [ 0.01225472 0.99984597 0.01256399 0.09399698] [ 0.00776732 -0.01265974 0.99988969 -0.1952731 ] [ 0. 0. 0. 1. ]] SLAMing on 10.987193470000001 meters Centerline goodness [0,1] 0.8953558316566759 Centerline is valid? [False, False] Translation: X:0.46, Y:0.10, Z:-0.20 [[ 0.99994056 -0.00737806 -0.00802732 0.4562939 ] [ 0.00750602 0.99984337 0.01602792 0.09673403] [ 0.00790781 -0.01608722 0.99983932 -0.19542937] [ 0. 0. 0. 1. ]] SLAMing on 11.01719347 meters Centerline goodness [0,1] 0.8939387636242616 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:-0.19 [[ 0.99993759 -0.00800496 -0.00779339 0.45479607] [ 0.00811655 0.99986344 0.01439497 0.10125685] [ 0.00767709 -0.01445733 0.99986601 -0.19378435] [ 0. 0. 0. 1. ]] SLAMing on 11.04719347 meters Centerline goodness [0,1] 0.8938121179357092 Centerline is valid? [False, False] Translation: X:0.45, Y:0.10, Z:-0.19 [[ 0.99989854 -0.01186662 -0.00787937 0.45491983] [ 0.01194603 0.99987755 0.01010867 0.10257611] [ 0.00775845 -0.01020177 0.99991786 -0.19346482] [ 0. 0. 0. 1. ]] SLAMing on 11.077193470000001 meters Centerline goodness [0,1] 0.8927200680483808 Centerline is valid? [False, False] Translation: X:0.46, Y:0.10, Z:-0.20 [[ 0.99983645 -0.01606604 -0.00830409 0.45712921] [ 0.01612686 0.99984323 0.00730958 0.09779284] [ 0.00818535 -0.00744231 0.9999388 -0.19566469] [ 0. 0. 0. 1. ]] SLAMing on 11.10719347 meters Centerline goodness [0,1] 0.8926575968428705 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99975784 -0.02018126 -0.00877396 0.45867916] [ 0.02022464 0.99978353 0.0048844 0.09303874] [ 0.00867349 -0.00506067 0.99994958 -0.19692408] [ 0. 0. 0. 1. ]] SLAMing on 11.13719347 meters Centerline goodness [0,1] 0.8918383518225039 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99976128 -0.01994587 -0.0089186 0.45901013] [ 0.01999747 0.99978359 0.00573434 0.0902525 ] [ 0.00880229 -0.00591132 0.99994379 -0.19702494] [ 0. 0. 0. 1. ]] SLAMing on 11.16719347 meters Centerline goodness [0,1] 0.8917793964620188 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.9997931 -0.01796059 -0.00954861 0.4606503 ] [ 0.01803324 0.99980867 0.00757741 0.08766108] [ 0.00941069 -0.00774803 0.9999257 -0.19731149] [ 0. 0. 0. 1. ]] SLAMing on 11.19719347 meters Centerline goodness [0,1] 0.8925659372659955 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.9999834 -0.00527898 -0.00230933 0.45828621] [ 0.00528986 0.99997482 0.00473144 0.08622583] [ 0.0022843 -0.00474357 0.99998614 -0.19673561] [ 0. 0. 0. 1. ]] SLAMing on 11.22719347 meters Centerline goodness [0,1] 0.8946602042726687 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99998958 -0.00392121 -0.00233565 0.45863832] [ 0.00393311 0.9999792 0.00511167 0.08711171] [ 0.00231556 -0.0051208 0.99998421 -0.19668546] [ 0. 0. 0. 1. ]] SLAMing on 11.25719347 meters Centerline goodness [0,1] 0.8988623577947243 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99999589 0.00241284 -0.00155122 0.45727345] [-0.00239613 0.9999401 0.0106795 0.08573632] [ 0.00157689 -0.01067574 0.99994177 -0.19614491] [ 0. 0. 0. 1. ]] SLAMing on 11.28719347 meters Centerline goodness [0,1] 0.8983950540186099 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99998936 0.00422994 -0.00183891 0.45935027] [-0.00420792 0.99992133 0.01181617 0.08631468] [ 0.00188874 -0.01180831 0.9999285 -0.19784761] [ 0. 0. 0. 1. ]] SLAMing on 11.31719347 meters Centerline goodness [0,1] 0.8972977488201145 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:-0.20 [[ 0.99999573 0.00180791 -0.00229505 0.46173857] [-0.00178749 0.99995907 0.00886939 0.08699515] [ 0.00231099 -0.00886525 0.99995803 -0.19962513] [ 0. 0. 0. 1. ]] SLAMing on 11.34719347 meters Centerline goodness [0,1] 0.8992191718237322 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:-0.20 [[ 0.99999175 -0.00223037 -0.00339534 0.46781637] [ 0.00224769 0.99998445 0.00510414 0.08326275] [ 0.0033839 -0.00511173 0.99998121 -0.20461086] [ 0. 0. 0. 1. ]] SLAMing on 11.37719347 meters Centerline goodness [0,1] 0.8983721315549664 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:-0.21 [[ 9.99951564e-01 -9.08465438e-03 -3.78677734e-03 4.70021060e-01] [ 9.08317265e-03 9.99958664e-01 -4.08306035e-04 7.64705158e-02] [ 3.79033013e-03 3.73890306e-04 9.99992747e-01 -2.06527524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407193470000001 meters Centerline goodness [0,1] 0.8951428452613631 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:-0.21 [[ 0.99990946 -0.01287858 -0.00389971 0.46973687] [ 0.01286622 0.99991217 -0.00317928 0.07244809] [ 0.00394031 0.00312882 0.99998734 -0.205761 ] [ 0. 0. 0. 1. ]] SLAMing on 11.43719347 meters Centerline goodness [0,1] 0.8957595701253801 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:-0.20 [[ 0.99978881 -0.02023382 -0.00359586 0.46682114] [ 0.02020565 0.99976614 -0.00770736 0.06244808] [ 0.00375097 0.00763308 0.99996383 -0.2024021 ] [ 0. 0. 0. 1. ]] SLAMing on 11.46719347 meters Centerline goodness [0,1] 0.8937304270278118 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:-0.20 [[ 0.99964889 -0.02624956 -0.00361422 0.46524794] [ 0.02620629 0.99958994 -0.0115406 0.05233896] [ 0.00391568 0.01144183 0.99992687 -0.20001908] [ 0. 0. 0. 1. ]] SLAMing on 11.497193470000001 meters Centerline goodness [0,1] 0.8918452257125026 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.20 [[ 0.99960097 -0.02796659 -0.00397005 0.46655775] [ 0.02791919 0.9995437 -0.01152908 0.04121203] [ 0.00429067 0.01141364 0.99992566 -0.20073361] [ 0. 0. 0. 1. ]] SLAMing on 11.52719347 meters Centerline goodness [0,1] 0.8934733528034964 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.20 [[ 0.99963732 -0.02658433 -0.00430224 0.46818361] [ 0.02654359 0.99960473 -0.00926375 0.03558061] [ 0.00454681 0.00914619 0.99994784 -0.20207931] [ 0. 0. 0. 1. ]] SLAMing on 11.55719347 meters Centerline goodness [0,1] 0.8934475659714279 Centerline is valid? [False, False] Translation: X:0.47, Y:0.03, Z:-0.20 [[ 0.9996623 -0.02560878 -0.00441365 0.46868494] [ 0.02557424 0.99964318 -0.00771184 0.03150593] [ 0.00460956 0.00759636 0.99996052 -0.20245079] [ 0. 0. 0. 1. ]] SLAMing on 11.58719347 meters Centerline goodness [0,1] 0.8946220930232558 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.20 [[ 0.9997017 -0.02392525 -0.00490775 0.47074012] [ 0.02390116 0.99970227 -0.00490909 0.02038713] [ 0.00502374 0.00479033 0.99997591 -0.20365636] [ 0. 0. 0. 1. ]] SLAMing on 11.61719347 meters Centerline goodness [0,1] 0.8950178675309566 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.20 [[ 0.99971949 -0.0231307 -0.00509011 0.47200211] [ 0.02311487 0.99972786 -0.00314755 0.01565386] [ 0.00516153 0.00302901 0.99998209 -0.20495236] [ 0. 0. 0. 1. ]] SLAMing on 11.64719347 meters Centerline goodness [0,1] 0.8929091590029545 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:-0.20 [[ 0.9996342 -0.02658513 -0.00496897 0.47185935] [ 0.0265573 0.99963168 -0.0055861 0.01130564] [ 0.00511565 0.00545209 0.99997205 -0.20480014] [ 0. 0. 0. 1. ]] SLAMing on 11.67719347 meters Centerline goodness [0,1] 0.8910361415804425 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:-0.21 [[ 0.99952997 -0.03022669 -0.00511711 0.4726719 ] [ 0.03018368 0.99951005 -0.00828309 0.00781466] [ 0.00536498 0.00812475 0.9999526 -0.20521101] [ 0. 0. 0. 1. ]] SLAMing on 11.70719347 meters Centerline goodness [0,1] 0.8892708333333333 Centerline is valid? [False, False] Translation: X:0.47, Y:0.00, Z:-0.21 [[ 0.99952824 -0.03024771 -0.0053269 0.47380528] [ 0.03020905 0.99951771 -0.00719492 0.00289662] [ 0.00554196 0.0070306 0.99995993 -0.2063351 ] [ 0. 0. 0. 1. ]] SLAMing on 11.737193470000001 meters Centerline goodness [0,1] 0.8923355010284432 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.21 [[ 0.99930752 -0.03679481 -0.00553348 0.47591771] [ 0.03672063 0.99924155 -0.01295818 -0.00275453] [ 0.00600608 0.01274601 0.99990073 -0.2078635 ] [ 0. 0. 0. 1. ]] SLAMing on 11.76719347 meters Centerline goodness [0,1] 0.8936979392736818 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.21 [[ 0.99927561 -0.0376224 -0.00572762 0.47611794] [ 0.03754805 0.99921567 -0.01257719 -0.00420055] [ 0.00619631 0.01235301 0.9999045 -0.2078381 ] [ 0. 0. 0. 1. ]] SLAMing on 11.79719347 meters Centerline goodness [0,1] 0.8930130548302873 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.21 [[ 0.99926628 -0.03783938 -0.00592305 0.47620798] [ 0.03776336 0.99920903 -0.01245939 -0.00429725] [ 0.00638982 0.01222658 0.99990484 -0.20752846] [ 0. 0. 0. 1. ]] SLAMing on 11.827193470000001 meters Centerline goodness [0,1] 0.8901683822463393 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:-0.21 [[ 0.99925583 -0.03811213 -0.00593705 0.47637054] [ 0.03803884 0.99920417 -0.01200335 -0.00665579] [ 0.0063898 0.01176857 0.99991033 -0.20775671] [ 0. 0. 0. 1. ]] SLAMing on 11.85719347 meters Centerline goodness [0,1] 0.8898414685022945 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:-0.21 [[ 0.99937791 -0.03475769 -0.00597447 0.47649364] [ 0.03470963 0.99936567 -0.00796905 -0.00905247] [ 0.00624767 0.00775672 0.9999504 -0.2082898 ] [ 0. 0. 0. 1. ]] SLAMing on 11.88719347 meters Centerline goodness [0,1] 0.8912663755458515 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:-0.21 [[ 0.999486 -0.03136382 -0.00663679 0.48083228] [ 0.03133295 0.99949793 -0.00470418 -0.00736217] [ 0.006781 0.00449381 0.99996691 -0.21248315] [ 0. 0. 0. 1. ]] SLAMing on 11.91719347 meters Centerline goodness [0,1] 0.8925207410641881 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.01, Z:-0.21 [[ 9.99613879e-01 -2.69212522e-02 -6.88028149e-03 4.81732478e-01] [ 2.69164512e-02 9.99637375e-01 -7.89454294e-04 -5.74874336e-03] [ 6.89903963e-03 6.03956709e-04 9.99976019e-01 -2.13306221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94719347 meters Centerline goodness [0,1] 0.8935668364365033 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.21 [[ 0.99970948 -0.02309077 -0.00691212 0.48109553] [ 0.02311046 0.99972904 0.00278358 -0.00466496] [ 0.00684598 -0.00294251 0.99997224 -0.21262993] [ 0. 0. 0. 1. ]] SLAMing on 11.97719347 meters Centerline goodness [0,1] 0.8947390353161788 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:-0.21 [[ 0.99978679 -0.01951601 -0.00674582 0.47904324] [ 0.01954744 0.99979823 0.00462561 0.0012116 ] [ 0.00665418 -0.00475649 0.99996655 -0.20992944] [ 0. 0. 0. 1. ]] SLAMing on 12.00719347 meters Centerline goodness [0,1] 0.8971336059278939 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.21 [[ 0.99979973 -0.01882888 -0.00677974 0.47882797] [ 0.01885466 0.99981517 0.00375785 0.00579953] [ 0.00670773 -0.00388493 0.99996996 -0.20910042] [ 0. 0. 0. 1. ]] SLAMing on 12.03719347 meters Centerline goodness [0,1] 0.8959415112366552 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.21 [[ 0.99980351 -0.01864715 -0.00672515 0.47881353] [ 0.01866969 0.99982024 0.00330496 0.0073377 ] [ 0.00666231 -0.00342987 0.99997192 -0.20911459] [ 0. 0. 0. 1. ]] SLAMing on 12.06719347 meters Centerline goodness [0,1] 0.898805443024826 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.21 [[ 0.99980397 -0.01860651 -0.006769 0.47912974] [ 0.01862905 0.99982108 0.00328214 0.00775779] [ 0.00670672 -0.0034076 0.9999717 -0.20943766] [ 0. 0. 0. 1. ]] SLAMing on 12.09719347 meters Centerline goodness [0,1] 0.8955257967403716 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.21 [[ 0.99980754 -0.01834397 -0.0069559 0.48086984] [ 0.01837112 0.99982378 0.00386093 0.00784141] [ 0.00688385 -0.00398798 0.99996835 -0.21131095] [ 0. 0. 0. 1. ]] SLAMing on 12.12719347 meters Centerline goodness [0,1] 0.8953485958612674 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.22 [[ 0.99981069 -0.01796619 -0.00746951 0.48465608] [ 0.01800297 0.99982599 0.00488646 0.00639897] [ 0.00738042 -0.00502001 0.99996016 -0.21513108] [ 0. 0. 0. 1. ]] SLAMing on 12.157193470000001 meters Centerline goodness [0,1] 0.8942563633338879 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:-0.22 [[ 0.99980788 -0.01802656 -0.00769729 0.48630469] [ 0.01807073 0.99982042 0.00570785 0.00292991] [ 0.00759301 -0.00584585 0.99995409 -0.21681983] [ 0. 0. 0. 1. ]] SLAMing on 12.18719347 meters Centerline goodness [0,1] 0.8942700943160004 Centerline is valid? [False, False] Translation: X:0.49, Y:0.00, Z:-0.22 [[ 0.99980824 -0.01806053 -0.0075695 0.48604145] [ 0.01810687 0.99981745 0.0060994 0.00115318] [ 0.00745796 -0.00623529 0.99995275 -0.21679871] [ 0. 0. 0. 1. ]] SLAMing on 12.21719347 meters Centerline goodness [0,1] 0.8948584512905912 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.00, Z:-0.22 [[ 9.99800348e-01 -1.84040433e-02 -7.78178261e-03 4.85650109e-01] [ 1.84545672e-02 9.99808757e-01 6.47140394e-03 -4.50584753e-04] [ 7.66119440e-03 -6.61372134e-03 9.99948781e-01 -2.15813518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247193470000001 meters Centerline goodness [0,1] 0.8940953017052451 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.21 [[ 9.99762588e-01 -2.04338930e-02 -7.56460746e-03 4.83760089e-01] [ 2.04752494e-02 9.99775611e-01 5.43062050e-03 -5.91628987e-04] [ 7.45194133e-03 -5.58421843e-03 9.99956642e-01 -2.14080308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27719347 meters Centerline goodness [0,1] 0.8948192042063973 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.21 [[ 0.99974601 -0.02124507 -0.00752044 0.48335314] [ 0.02128624 0.99975864 0.00543746 -0.00224634] [ 0.0074031 -0.00559617 0.99995694 -0.21375125] [ 0. 0. 0. 1. ]] SLAMing on 12.30719347 meters Centerline goodness [0,1] 0.8861300836637671 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.00, Z:-0.21 [[ 9.99631207e-01 -2.61504326e-02 -7.32155273e-03 4.82806639e-01] [ 2.61581654e-02 9.99657353e-01 9.62382382e-04 -2.91716658e-03] [ 7.29387731e-03 -1.15354585e-03 9.99972734e-01 -2.13261379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33719347 meters Centerline goodness [0,1] 0.8948069518160058 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:-0.21 [[ 9.99667369e-01 -2.48978684e-02 -6.72669132e-03 4.79590706e-01] [ 2.49125444e-02 9.99687414e-01 2.10682434e-03 7.28561006e-04] [ 6.67213322e-03 -2.27370254e-03 9.99975156e-01 -2.10833396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36719347 meters Centerline goodness [0,1] 0.8948069518160058 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:-0.21 [[ 9.99667369e-01 -2.48978684e-02 -6.72669132e-03 4.79590706e-01] [ 2.49125444e-02 9.99687414e-01 2.10682434e-03 7.28561006e-04] [ 6.67213322e-03 -2.27370254e-03 9.99975156e-01 -2.10833396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39719347 meters Centerline goodness [0,1] 0.8941594464875646 Centerline is valid? [False, False] Translation: X:0.48, Y:0.00, Z:-0.21 [[ 0.99973933 -0.02184686 -0.00663248 0.47870044] [ 0.02187699 0.99975052 0.0045051 0.00492005] [ 0.0065324 -0.00464902 0.99996786 -0.2101045 ] [ 0. 0. 0. 1. ]] SLAMing on 12.42719347 meters Centerline goodness [0,1] 0.8980438525525338 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.21 [[ 0.99984942 -0.01601026 -0.00669393 0.47917056] [ 0.01606368 0.99983894 0.00800301 0.01732671] [ 0.00656472 -0.00810933 0.99994557 -0.21062898] [ 0. 0. 0. 1. ]] SLAMing on 12.45719347 meters Centerline goodness [0,1] 0.8943287778857485 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:-0.22 [[ 0.99985704 -0.01344994 -0.01024674 0.4878701 ] [ 0.01349784 0.99989823 0.00462004 0.03078742] [ 0.01018356 -0.00475768 0.99993683 -0.21620886] [ 0. 0. 0. 1. ]] SLAMing on 12.487193470000001 meters Centerline goodness [0,1] 0.8963879903790329 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.22 [[ 0.99986513 -0.01257927 -0.01055881 0.49058831] [ 0.01262812 0.99990981 0.00457284 0.03607684] [ 0.01050034 -0.00470556 0.9999338 -0.21892404] [ 0. 0. 0. 1. ]] SLAMing on 12.51719347 meters Centerline goodness [0,1] 0.897630940783883 Centerline is valid? [False, False] Translation: X:0.49, Y:0.05, Z:-0.22 [[ 0.99987091 -0.01275623 -0.00976928 0.48919953] [ 0.01279006 0.99991239 0.00340835 0.0498417 ] [ 0.00972495 -0.00353286 0.99994647 -0.21950337] [ 0. 0. 0. 1. ]] SLAMing on 12.54719347 meters Centerline goodness [0,1] 0.8850589093942237 Centerline is valid? [False, False] Translation: X:0.49, Y:0.06, Z:-0.22 [[ 9.99822771e-01 -1.64741842e-02 -9.11197323e-03 4.86441315e-01] [ 1.64734646e-02 9.99864291e-01 -1.54024302e-04 6.24779136e-02] [ 9.11327408e-03 3.89123555e-06 9.99958473e-01 -2.18694875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.577193470000001 meters Centerline goodness [0,1] 0.8817438579017264 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:-0.22 [[ 0.99980342 -0.01756552 -0.0091961 0.48638008] [ 0.01755047 0.99984451 -0.00171487 0.06648474] [ 0.00922479 0.00155314 0.99995624 -0.21836457] [ 0. 0. 0. 1. ]] SLAMing on 12.60719347 meters Centerline goodness [0,1] 0.8430365060290888 Centerline is valid? [False, False] Translation: X:0.48, Y:0.08, Z:-0.22 [[ 0.99974846 -0.02062075 -0.00882083 0.48469048] [ 0.02057253 0.9997731 -0.00552391 0.07554032] [ 0.00893274 0.00534105 0.99994584 -0.21716393] [ 0. 0. 0. 1. ]] SLAMing on 12.63719347 meters Centerline goodness [0,1] 0.8362590168035692 Centerline is valid? [False, False] Translation: X:0.48, Y:0.09, Z:-0.22 [[ 0.99972265 -0.02271111 -0.00623084 0.47671593] [ 0.02267282 0.99972402 -0.00614992 0.08769203] [ 0.00636879 0.00600694 0.99996168 -0.21564956] [ 0. 0. 0. 1. ]] SLAMing on 12.66719347 meters Centerline goodness [0,1] 0.8179508538109121 Centerline is valid? [False, False] Translation: X:0.48, Y:0.09, Z:-0.22 [[ 0.99978096 -0.02003233 -0.00606121 0.47597973] [ 0.02000764 0.99979139 -0.00410689 0.09295238] [ 0.00614222 0.00398472 0.9999732 -0.2152538 ] [ 0. 0. 0. 1. ]] SLAMing on 12.69719347 meters Centerline goodness [0,1] 0.8253008292287549 Centerline is valid? [False, False] Translation: X:0.48, Y:0.11, Z:-0.22 [[ 0.99986861 -0.01503841 -0.00605077 0.47656569] [ 0.01503086 0.9998862 -0.0012917 0.10611742] [ 0.0060695 0.00120058 0.99998086 -0.21591171] [ 0. 0. 0. 1. ]] SLAMing on 12.72719347 meters Centerline goodness [0,1] 0.8715916890247707 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:-0.22 [[ 9.99929733e-01 -8.76401778e-03 -7.98248860e-03 4.81918823e-01] [ 8.75973896e-03 9.99961470e-01 -5.70831578e-04 1.22506193e-01] [ 7.98718382e-03 5.00866951e-04 9.99967977e-01 -2.18776468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75719347 meters Centerline goodness [0,1] 0.8850094169753917 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:-0.22 [[ 9.99955689e-01 -6.50194853e-04 -9.39137281e-03 4.85357894e-01] [ 6.18800343e-04 9.99994213e-01 -3.34542858e-03 1.42728475e-01] [ 9.39349364e-03 3.33946895e-03 9.99950304e-01 -2.18090767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78719347 meters Centerline goodness [0,1] 0.8997903215761174 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:-0.22 [[ 0.99994144 0.00568365 -0.0092095 0.48511937] [-0.00567151 0.99998301 0.00134422 0.15122291] [ 0.00921699 -0.0012919 0.99995669 -0.21772787] [ 0. 0. 0. 1. ]] SLAMing on 12.81719347 meters Centerline goodness [0,1] 0.9017344646867981 Centerline is valid? [False, False] Translation: X:0.48, Y:0.17, Z:-0.21 [[ 0.99984692 0.0154301 -0.00824907 0.48349105] [-0.0153915 0.99987039 0.004722 0.17227748] [ 0.00832086 -0.00459431 0.99995483 -0.21306373] [ 0. 0. 0. 1. ]] SLAMing on 12.84719347 meters Centerline goodness [0,1] 0.8955801451670258 Centerline is valid? [False, False] Translation: X:0.49, Y:0.19, Z:-0.21 [[ 0.9996946 0.02255063 -0.01010865 0.4890332 ] [-0.02248469 0.99972547 0.00659025 0.18808147] [ 0.01025449 -0.00636095 0.99992719 -0.21398413] [ 0. 0. 0. 1. ]] SLAMing on 12.87719347 meters Centerline goodness [0,1] 0.8900677058066694 Centerline is valid? [False, False] Translation: X:0.49, Y:0.19, Z:-0.22 [[ 0.99967051 0.02342382 -0.01049784 0.49119432] [-0.02336322 0.99970988 0.00585842 0.19464957] [ 0.01063202 -0.00561122 0.99992773 -0.21517291] [ 0. 0. 0. 1. ]] SLAMing on 12.907193470000001 meters Centerline goodness [0,1] 0.8896133238654703 Centerline is valid? [False, False] Translation: X:0.50, Y:0.21, Z:-0.22 [[ 0.99955483 0.02959988 -0.0037404 0.50139944] [-0.02958508 0.99955446 0.00395102 0.20696416] [ 0.00385568 -0.00383861 0.9999852 -0.21895346] [ 0. 0. 0. 1. ]] SLAMing on 12.93719347 meters Centerline goodness [0,1] 0.8922544066712259 Centerline is valid? [False, False] Translation: X:0.50, Y:0.22, Z:-0.22 [[ 0.99928294 0.03763009 -0.00419294 0.50363064] [-0.03758822 0.99924669 0.00965338 0.21647584] [ 0.00455304 -0.00948885 0.99994461 -0.21908031] [ 0. 0. 0. 1. ]] SLAMing on 12.96719347 meters Centerline goodness [0,1] 0.8907589285714286 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:-0.22 [[ 0.99909395 0.04232919 -0.00441749 0.50592303] [-0.04226743 0.99901855 0.01324426 0.22026733] [ 0.00497378 -0.01304554 0.99990253 -0.22073724] [ 0. 0. 0. 1. ]] SLAMing on 12.997193470000001 meters Centerline goodness [0,1] 0.8926418716792428 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:-0.22 [[ 0.99908271 0.04255437 -0.00478085 0.5068977 ] [-0.04249005 0.99901444 0.01283511 0.22199848] [ 0.00532233 -0.0126202 0.9999062 -0.22088356] [ 0. 0. 0. 1. ]] SLAMing on 13.02719347 meters Centerline goodness [0,1] 0.8967617682626416 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:-0.22 [[ 0.99906409 0.0429566 -0.00506724 0.50789178] [-0.04289097 0.99900259 0.01241695 0.22436917] [ 0.00559558 -0.01218799 0.99991007 -0.22101431] [ 0. 0. 0. 1. ]] SLAMing on 13.05719347 meters Centerline goodness [0,1] 0.89829489805004 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.22 [[ 0.9992003 0.03960282 -0.00551111 0.50835554] [-0.03955744 0.99918436 0.00811303 0.22650556] [ 0.00582791 -0.00788854 0.9999519 -0.22007998] [ 0. 0. 0. 1. ]] SLAMing on 13.08719347 meters Centerline goodness [0,1] 0.8996865203761756 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:-0.22 [[ 0.99935952 0.03530572 -0.00583516 0.50639486] [-0.03528381 0.99937005 0.00381597 0.2248779 ] [ 0.00596621 -0.00360764 0.99997569 -0.21681847] [ 0. 0. 0. 1. ]] SLAMing on 13.11719347 meters Centerline goodness [0,1] 0.8971004778481697 Centerline is valid? [False, False] Translation: X:0.50, Y:0.22, Z:-0.21 [[ 0.99964837 0.0258182 -0.00604563 0.5046496 ] [-0.02584787 0.99965397 -0.00488159 0.21726936] [ 0.0059175 0.00503614 0.99996981 -0.21474022] [ 0. 0. 0. 1. ]] SLAMing on 13.14719347 meters Centerline goodness [0,1] 0.8963367609254499 Centerline is valid? [False, False] Translation: X:0.50, Y:0.21, Z:-0.21 [[ 0.99975423 0.02134591 -0.00598614 0.50374685] [-0.021395 0.99973698 -0.00825972 0.21213563] [ 0.00580825 0.00838576 0.99994797 -0.21434035] [ 0. 0. 0. 1. ]] SLAMing on 13.17719347 meters Centerline goodness [0,1] 0.8913607321341965 Centerline is valid? [False, False] Translation: X:0.51, Y:0.20, Z:-0.21 [[ 0.99987702 0.0105522 -0.01160149 0.5102066 ] [-0.01061361 0.99992992 -0.00524491 0.20257987] [ 0.01154533 0.0053674 0.99991894 -0.21209421] [ 0. 0. 0. 1. ]] SLAMing on 13.20719347 meters Centerline goodness [0,1] 0.8946929412991346 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.21 [[ 0.99991472 0.00615634 -0.01151787 0.50842744] [-0.00624387 0.99995178 -0.00757961 0.19380079] [ 0.01147065 0.00765088 0.99990494 -0.21066065] [ 0. 0. 0. 1. ]] SLAMing on 13.23719347 meters Centerline goodness [0,1] 0.8937916666666667 Centerline is valid? [False, False] Translation: X:0.51, Y:0.18, Z:-0.21 [[ 0.99992547 0.00353733 -0.0116853 0.50940931] [-0.00363369 0.99995948 -0.00823584 0.1832669 ] [ 0.0116557 0.00827769 0.99989781 -0.21221217] [ 0. 0. 0. 1. ]] SLAMing on 13.26719347 meters Centerline goodness [0,1] 0.8946998075291294 Centerline is valid? [False, False] Translation: X:0.52, Y:0.18, Z:-0.22 [[ 9.99972517e-01 2.72591579e-04 -7.40884752e-03 5.21276974e-01] [-2.68931090e-04 9.99999841e-01 4.95061671e-04 1.76935438e-01] [ 7.40898129e-03 -4.93055596e-04 9.99972432e-01 -2.17290661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29719347 meters Centerline goodness [0,1] 0.8946281853442882 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.22 [[ 9.99967236e-01 -2.66306386e-03 -7.64427511e-03 5.22699111e-01] [ 2.66534708e-03 9.99996406e-01 2.88510566e-04 1.66801154e-01] [ 7.64347932e-03 -3.08875760e-04 9.99970740e-01 -2.19933620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327193470000001 meters Centerline goodness [0,1] 0.8941752812720555 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.22 [[ 0.99995218 -0.00543667 -0.00812914 0.52440049] [ 0.00542263 0.99998377 -0.00174778 0.1627454 ] [ 0.00813851 0.00170361 0.99996543 -0.22087353] [ 0. 0. 0. 1. ]] SLAMing on 13.35719347 meters Centerline goodness [0,1] 0.892533016210803 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:-0.22 [[ 0.99993761 -0.00756305 -0.0082209 0.52315545] [ 0.00754583 0.99996927 -0.00212365 0.15345413] [ 0.0082367 0.00206149 0.99996395 -0.21925665] [ 0. 0. 0. 1. ]] SLAMing on 13.38719347 meters Centerline goodness [0,1] 0.8923419579109511 Centerline is valid? [False, False] Translation: X:0.52, Y:0.14, Z:-0.22 [[ 9.99941644e-01 -6.82489494e-03 -8.37431588e-03 5.22499998e-01] [ 6.82625606e-03 9.99976692e-01 1.33961533e-04 1.44427655e-01] [ 8.37320642e-03 -1.91118940e-04 9.99964926e-01 -2.18182397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41719347 meters Centerline goodness [0,1] 0.8904456483384188 Centerline is valid? [False, False] Translation: X:0.52, Y:0.14, Z:-0.22 [[ 0.99994575 -0.0058514 -0.00861693 0.52348975] [ 0.00586698 0.9999812 0.00178441 0.14006045] [ 0.00860633 -0.00183487 0.99996128 -0.21892217] [ 0. 0. 0. 1. ]] SLAMing on 13.44719347 meters Centerline goodness [0,1] 0.8892185749263394 Centerline is valid? [False, False] Translation: X:0.52, Y:0.13, Z:-0.22 [[ 0.99995369 -0.00438485 -0.00856629 0.52342735] [ 0.00441767 0.99998296 0.00381691 0.13406702] [ 0.00854941 -0.00385458 0.99995602 -0.21878741] [ 0. 0. 0. 1. ]] SLAMing on 13.47719347 meters Centerline goodness [0,1] 0.8878669600963335 Centerline is valid? [False, False] Translation: X:0.52, Y:0.13, Z:-0.22 [[ 0.99995643 -0.00401137 -0.00842941 0.52150226] [ 0.00405091 0.99998085 0.00467837 0.12926482] [ 0.00841048 -0.00471231 0.99995353 -0.21650715] [ 0. 0. 0. 1. ]] SLAMing on 13.50719347 meters Centerline goodness [0,1] 0.8880465261190155 Centerline is valid? [False, False] Translation: X:0.52, Y:0.13, Z:-0.22 [[ 0.99995682 -0.00371363 -0.00851875 0.52148997] [ 0.00376083 0.99997763 0.00553218 0.12606959] [ 0.00849801 -0.00556398 0.99994841 -0.21633684] [ 0. 0. 0. 1. ]] SLAMing on 13.53719347 meters Centerline goodness [0,1] 0.8891292140673419 Centerline is valid? [False, False] Translation: X:0.52, Y:0.12, Z:-0.22 [[ 0.99994043 -0.00624499 -0.00895135 0.52312011] [ 0.00627916 0.99997309 0.00379471 0.12162705] [ 0.00892741 -0.00385069 0.99995274 -0.21728829] [ 0. 0. 0. 1. ]] SLAMing on 13.56719347 meters Centerline goodness [0,1] 0.8898621451959373 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:-0.22 [[ 0.99991659 -0.00876563 -0.00948586 0.52526185] [ 0.00878652 0.99995906 0.00216293 0.11683207] [ 0.00946651 -0.00224609 0.99995267 -0.21866248] [ 0. 0. 0. 1. ]] SLAMing on 13.59719347 meters Centerline goodness [0,1] 0.8900380038626877 Centerline is valid? [False, False] Translation: X:0.53, Y:0.11, Z:-0.22 [[ 0.99988907 -0.01086157 -0.0101914 0.52882454] [ 0.01087485 0.99994009 0.00124927 0.10982205] [ 0.01017722 -0.00135996 0.99994729 -0.22160879] [ 0. 0. 0. 1. ]] SLAMing on 13.62719347 meters Centerline goodness [0,1] 0.8892951367970584 Centerline is valid? [False, False] Translation: X:0.53, Y:0.11, Z:-0.22 [[ 0.99989427 -0.01026461 -0.0103003 0.52940532] [ 0.0102922 0.99994358 0.00262983 0.10597278] [ 0.01027272 -0.00273556 0.99994349 -0.22217515] [ 0. 0. 0. 1. ]] SLAMing on 13.657193470000001 meters Centerline goodness [0,1] 0.8901208837015423 Centerline is valid? [False, False] Translation: X:0.53, Y:0.10, Z:-0.22 [[ 0.9999035 -0.00962575 -0.01001718 0.52679811] [ 0.00966818 0.99994446 0.00419659 0.10072352] [ 0.00997623 -0.00429303 0.99994102 -0.21963158] [ 0. 0. 0. 1. ]] SLAMing on 13.68719347 meters Centerline goodness [0,1] 0.8899452009299236 Centerline is valid? [False, False] Translation: X:0.53, Y:0.10, Z:-0.22 [[ 0.99990793 -0.00893706 -0.01021033 0.52703402] [ 0.00899772 0.99994205 0.00591021 0.09599555] [ 0.01015692 -0.00600154 0.99993041 -0.21949068] [ 0. 0. 0. 1. ]] SLAMing on 13.71719347 meters Centerline goodness [0,1] 0.8910248408438397 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.22 [[ 0.99990773 -0.00897034 -0.01020117 0.52688864] [ 0.00903617 0.99993852 0.00642607 0.09391096] [ 0.0101429 -0.00651765 0.99992732 -0.21935522] [ 0. 0. 0. 1. ]] SLAMing on 13.747193470000001 meters Centerline goodness [0,1] 0.8893141680361117 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.22 [[ 0.99987622 -0.01173769 -0.01047682 0.5288864 ] [ 0.01178217 0.9999218 0.00419319 0.0910601 ] [ 0.01042678 -0.00431611 0.99993632 -0.22108879] [ 0. 0. 0. 1. ]] SLAMing on 13.77719347 meters Centerline goodness [0,1] 0.8930465771589591 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.22 [[ 0.99986528 -0.01224183 -0.0109341 0.53202382] [ 0.01228324 0.99991761 0.00372798 0.09026481] [ 0.01088756 -0.00386178 0.99993327 -0.22368717] [ 0. 0. 0. 1. ]] SLAMing on 13.80719347 meters Centerline goodness [0,1] 0.8898663720319373 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.23 [[ 0.99988363 -0.01047193 -0.01109362 0.53404949] [ 0.0105245 0.99993361 0.00469142 0.09137195] [ 0.01104376 -0.00480763 0.99992746 -0.22551206] [ 0. 0. 0. 1. ]] SLAMing on 13.83719347 meters Centerline goodness [0,1] 0.8905514108281583 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.23 [[ 0.99991754 -0.00605862 -0.01132265 0.53437607] [ 0.00615095 0.99994797 0.00813752 0.09383717] [ 0.01127276 -0.0082065 0.99990278 -0.22520583] [ 0. 0. 0. 1. ]] SLAMing on 13.86719347 meters Centerline goodness [0,1] 0.8901511203751954 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:-0.23 [[ 0.99991694 -0.00569553 -0.01156206 0.53523318] [ 0.00578671 0.9999523 0.00786803 0.09570063] [ 0.0115167 -0.00793429 0.9999022 -0.2255824 ] [ 0. 0. 0. 1. ]] SLAMing on 13.89719347 meters Centerline goodness [0,1] 0.8923539357505166 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:-0.23 [[ 0.99991448 -0.0059756 -0.01163322 0.53549216] [ 0.00606174 0.99995437 0.00738297 0.09728745] [ 0.01158857 -0.00745285 0.99990508 -0.22570479] [ 0. 0. 0. 1. ]] SLAMing on 13.92719347 meters Centerline goodness [0,1] 0.890893936236716 Centerline is valid? [False, False] Translation: X:0.54, Y:0.10, Z:-0.23 [[ 0.99987825 -0.0101434 -0.01185695 0.53615808] [ 0.01018852 0.99994106 0.00375094 0.09595541] [ 0.0118182 -0.00387129 0.99992267 -0.22600456] [ 0. 0. 0. 1. ]] SLAMing on 13.95719347 meters Centerline goodness [0,1] 0.8929682638456752 Centerline is valid? [False, False] Translation: X:0.54, Y:0.09, Z:-0.23 [[ 9.99830857e-01 -1.37685450e-02 -1.21936680e-02 5.37399948e-01] [ 1.37745152e-02 9.99905045e-01 4.05762124e-04 9.44869672e-02] [ 1.21869234e-02 -5.73655357e-04 9.99925572e-01 -2.26615980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98719347 meters Centerline goodness [0,1] 0.8954173280975855 Centerline is valid? [False, False] Translation: X:0.54, Y:0.09, Z:-0.23 [[ 0.9997636 -0.01810186 -0.01204424 0.53671308] [ 0.01806821 0.99983256 -0.00289658 0.09032263] [ 0.01209466 0.00267827 0.99992327 -0.2260158 ] [ 0. 0. 0. 1. ]] SLAMing on 14.01719347 meters Centerline goodness [0,1] 0.8957655402586566 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.22 [[ 0.9997526 -0.01883953 -0.0118242 0.53403232] [ 0.01880704 0.99981906 -0.0028531 0.08843408] [ 0.01187581 0.00263001 0.99992602 -0.22307305] [ 0. 0. 0. 1. ]] SLAMing on 14.04719347 meters Centerline goodness [0,1] 0.8943209465782196 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.22 [[ 0.99981883 -0.01457128 -0.01224695 0.5343542 ] [ 0.01459779 0.99989129 0.00207775 0.08571659] [ 0.01221534 -0.00225615 0.99992284 -0.22270051] [ 0. 0. 0. 1. ]] SLAMing on 14.077193470000001 meters Centerline goodness [0,1] 0.8953270248864063 Centerline is valid? [False, False] Translation: X:0.54, Y:0.09, Z:-0.22 [[ 0.99982507 -0.01396031 -0.01244764 0.53502134] [ 0.01399341 0.99989877 0.00257544 0.08506113] [ 0.01241043 -0.00274917 0.99991921 -0.22301927] [ 0. 0. 0. 1. ]] SLAMing on 14.10719347 meters Centerline goodness [0,1] 0.8910061293416169 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.22 [[ 0.99984461 -0.01235889 -0.01256997 0.53635933] [ 0.01240835 0.99991555 0.00386409 0.08364604] [ 0.01252115 -0.00401946 0.99991353 -0.22421911] [ 0. 0. 0. 1. ]] SLAMing on 14.13719347 meters Centerline goodness [0,1] 0.8907470500249294 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.9998588 -0.01053767 -0.01308957 0.53882948] [ 0.01060756 0.99992979 0.00528159 0.08254005] [ 0.01303299 -0.0054197 0.99990038 -0.22587949] [ 0. 0. 0. 1. ]] SLAMing on 14.16719347 meters Centerline goodness [0,1] 0.8917984292648377 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.99985866 -0.0102369 -0.01333658 0.53944152] [ 0.01031177 0.99993139 0.00555662 0.08238469] [ 0.01327878 -0.00569336 0.99989562 -0.22604074] [ 0. 0. 0. 1. ]] SLAMing on 14.19719347 meters Centerline goodness [0,1] 0.8924378525172342 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.99985458 -0.01054095 -0.0134058 0.53916664] [ 0.0106186 0.99992718 0.00573392 0.08132183] [ 0.01334438 -0.00587543 0.9998937 -0.22553668] [ 0. 0. 0. 1. ]] SLAMing on 14.22719347 meters Centerline goodness [0,1] 0.8911900953488855 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.99980984 -0.01366989 -0.01390743 0.54121282] [ 0.01371175 0.99990173 0.00291842 0.0801386 ] [ 0.01386616 -0.00310856 0.99989903 -0.22670812] [ 0. 0. 0. 1. ]] SLAMing on 14.25719347 meters Centerline goodness [0,1] 0.8908471194613019 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.99980915 -0.01346285 -0.01415659 0.54210959] [ 0.01351406 0.99990246 0.00352843 0.07833879] [ 0.01410771 -0.00371907 0.99989356 -0.22732309] [ 0. 0. 0. 1. ]] SLAMing on 14.28719347 meters Centerline goodness [0,1] 0.8908471194613019 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.99980915 -0.01346285 -0.01415659 0.54210959] [ 0.01351406 0.99990246 0.00352843 0.07833879] [ 0.01410771 -0.00371907 0.99989356 -0.22732309] [ 0. 0. 0. 1. ]] SLAMing on 14.31719347 meters Centerline goodness [0,1] 0.8915615141955836 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.99981884 -0.01265512 -0.01421714 0.5429582 ] [ 0.01271585 0.99991037 0.0041896 0.07714782] [ 0.01416284 -0.00436962 0.99989015 -0.22807674] [ 0. 0. 0. 1. ]] SLAMing on 14.34719347 meters Centerline goodness [0,1] 0.8906418890828969 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.23 [[ 0.99985682 -0.00959232 -0.01394022 0.54068897] [ 0.00969176 0.99992794 0.00708366 0.07751323] [ 0.01387127 -0.00721775 0.99987774 -0.22593423] [ 0. 0. 0. 1. ]] SLAMing on 14.37719347 meters Centerline goodness [0,1] 0.896296757845764 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.22 [[ 0.99989149 -0.0062568 -0.01333641 0.53704093] [ 0.0063798 0.99993732 0.00920053 0.08076648] [ 0.01327801 -0.00928462 0.99986874 -0.2219821 ] [ 0. 0. 0. 1. ]] SLAMing on 14.40719347 meters Centerline goodness [0,1] 0.8958229218723971 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.22 [[ 0.99988868 -0.00640319 -0.01347721 0.53767388] [ 0.00652136 0.99994051 0.00874323 0.08187449] [ 0.01342042 -0.00883015 0.99987095 -0.22246612] [ 0. 0. 0. 1. ]] SLAMing on 14.43719347 meters Centerline goodness [0,1] 0.8959464237432666 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.22 [[ 0.99984536 -0.0112506 -0.01351612 0.5380187 ] [ 0.01131473 0.99992505 0.00467771 0.08079038] [ 0.01346248 -0.00482992 0.99989771 -0.22290537] [ 0. 0. 0. 1. ]] SLAMing on 14.46719347 meters Centerline goodness [0,1] 0.8951771447693144 Centerline is valid? [False, False] Translation: X:0.54, Y:0.08, Z:-0.22 [[ 9.99787303e-01 -1.56515884e-02 -1.34304618e-02 5.37696936e-01] [ 1.56628999e-02 9.99877057e-01 7.37455127e-04 7.97926802e-02] [ 1.34172683e-02 -9.47658252e-04 9.99909535e-01 -2.22595296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.497193470000001 meters Centerline goodness [0,1] 0.8981333111356211 Centerline is valid? [False, False] Translation: X:0.55, Y:0.08, Z:-0.23 [[ 9.99565079e-01 -2.82990237e-02 -8.29566030e-03 5.47847111e-01] [ 2.83058725e-02 9.99599057e-01 7.09318072e-04 7.50032067e-02] [ 8.27226120e-03 -9.43825478e-04 9.99965339e-01 -2.25862274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52719347 meters Centerline goodness [0,1] 0.8953330690755846 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.23 [[ 0.99942805 -0.03275349 -0.0084136 0.54830057] [ 0.03272887 0.99945962 -0.00304775 0.0737308 ] [ 0.00850888 0.00277064 0.99995996 -0.22591688] [ 0. 0. 0. 1. ]] SLAMing on 14.55719347 meters Centerline goodness [0,1] 0.8289221407135712 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.23 [[ 0.99921162 -0.03877098 -0.00854054 0.54839423] [ 0.03871113 0.99922547 -0.00706445 0.07190244] [ 0.00880782 0.00672827 0.99993857 -0.22614923] [ 0. 0. 0. 1. ]] SLAMing on 14.58719347 meters Centerline goodness [0,1] 0.8328063241106719 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.23 [[ 0.99921729 -0.03859125 -0.00869034 0.5492013 ] [ 0.03853432 0.99923531 -0.00662594 0.07062379] [ 0.0089394 0.00628588 0.99994029 -0.22687377] [ 0. 0. 0. 1. ]] SLAMing on 14.61719347 meters Centerline goodness [0,1] 0.8604095991958789 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.23 [[ 0.99936761 -0.03447882 -0.0086947 0.54990631] [ 0.03445878 0.99940313 -0.00244377 0.06952046] [ 0.00877376 0.00214262 0.99995921 -0.22821912] [ 0. 0. 0. 1. ]] SLAMing on 14.64719347 meters Centerline goodness [0,1] 0.8670737043905895 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.23 [[ 0.99951031 -0.0299244 -0.00914682 0.5520387 ] [ 0.02994522 0.99954923 0.00214737 0.06961974] [ 0.00907844 -0.00242022 0.99995586 -0.23027577] [ 0. 0. 0. 1. ]] SLAMing on 14.67719347 meters Centerline goodness [0,1] 0.8914712509388301 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.23 [[ 0.99965434 -0.02443201 -0.00970994 0.555193 ] [ 0.02449537 0.99967906 0.00646128 0.07480004] [ 0.00954896 -0.00669689 0.99993198 -0.23315916] [ 0. 0. 0. 1. ]] SLAMing on 14.70719347 meters Centerline goodness [0,1] 0.8980652432533968 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.23 [[ 0.99981683 -0.01638372 -0.00989328 0.55554086] [ 0.01650941 0.99978229 0.01275979 0.08081734] [ 0.00968207 -0.01292079 0.99986965 -0.23321545] [ 0. 0. 0. 1. ]] SLAMing on 14.73719347 meters Centerline goodness [0,1] 0.8969734789391576 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.23 [[ 0.99987349 -0.01223385 -0.01016517 0.55615071] [ 0.01239239 0.99980022 0.01568248 0.08484072] [ 0.00997128 -0.01580646 0.99982535 -0.23326847] [ 0. 0. 0. 1. ]] SLAMing on 14.76719347 meters Centerline goodness [0,1] 0.8921819962900436 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:-0.23 [[ 0.99998418 -0.00105818 -0.00552369 0.5482578 ] [ 0.00111111 0.99995341 0.00958879 0.09538299] [ 0.00551329 -0.00959477 0.99993877 -0.23214814] [ 0. 0. 0. 1. ]] SLAMing on 14.79719347 meters Centerline goodness [0,1] 0.8909729875855186 Centerline is valid? [False, False] Translation: X:0.54, Y:0.11, Z:-0.23 [[ 0.99997352 0.00599708 -0.00412345 0.54489835] [-0.00594922 0.99991592 0.01152181 0.10588723] [ 0.0041922 -0.01149698 0.99992512 -0.22631242] [ 0. 0. 0. 1. ]] SLAMing on 14.827193470000001 meters Centerline goodness [0,1] 0.8884442116291252 Centerline is valid? [False, False] Translation: X:0.54, Y:0.11, Z:-0.23 [[ 0.99997528 0.00573464 -0.00406859 0.54445914] [-0.00569445 0.99993554 0.00982296 0.11179033] [ 0.00412466 -0.00979955 0.99994348 -0.22542056] [ 0. 0. 0. 1. ]] SLAMing on 14.85719347 meters Centerline goodness [0,1] 0.8899968576516183 Centerline is valid? [False, False] Translation: X:0.55, Y:0.12, Z:-0.23 [[ 0.99997206 0.0057224 -0.00480995 0.54844522] [-0.00568226 0.99994926 0.00831788 0.11895794] [ 0.00485731 -0.00829031 0.99995384 -0.22859459] [ 0. 0. 0. 1. ]] SLAMing on 14.88719347 meters Centerline goodness [0,1] 0.8880122221757147 Centerline is valid? [False, False] Translation: X:0.55, Y:0.12, Z:-0.23 [[ 0.99996869 0.00545568 -0.00573175 0.55329986] [-0.00541571 0.99996107 0.00696669 0.12336049] [ 0.00576953 -0.00693543 0.99995931 -0.23247273] [ 0. 0. 0. 1. ]] SLAMing on 14.91719347 meters Centerline goodness [0,1] 0.8874221824314477 Centerline is valid? [False, False] Translation: X:0.55, Y:0.12, Z:-0.23 [[ 0.99996714 0.00543512 -0.0060156 0.55413463] [-0.00539524 0.99996349 0.00662655 0.12447142] [ 0.0060514 -0.00659388 0.99995995 -0.23283664] [ 0. 0. 0. 1. ]] SLAMing on 14.94719347 meters Centerline goodness [0,1] 0.8872003825125252 Centerline is valid? [False, False] Translation: X:0.55, Y:0.12, Z:-0.23 [[ 0.99997946 0.00149663 -0.00623267 0.55404185] [-0.00148216 0.9999962 0.00232506 0.12499865] [ 0.00623612 -0.00231577 0.99997787 -0.23182388] [ 0. 0. 0. 1. ]] SLAMing on 14.97719347 meters Centerline goodness [0,1] 0.888830952132652 Centerline is valid? [False, False] Translation: X:0.55, Y:0.12, Z:-0.23 [[ 9.99979272e-01 -2.76546154e-03 -5.81439993e-03 5.49382200e-01] [ 2.76192622e-03 9.99995996e-01 -6.15968505e-04 1.22079653e-01] [ 5.81608009e-03 5.99896793e-04 9.99982907e-01 -2.26980677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00719347 meters Centerline goodness [0,1] 0.8875873321340417 Centerline is valid? [False, False] Translation: X:0.54, Y:0.12, Z:-0.22 [[ 0.99997038 -0.00570191 -0.00516986 0.54477029] [ 0.00569122 0.99998164 -0.00208076 0.12053867] [ 0.00518163 0.00205127 0.99998447 -0.22258296] [ 0. 0. 0. 1. ]] SLAMing on 15.03719347 meters Centerline goodness [0,1] 0.8882965378825891 Centerline is valid? [False, False] Translation: X:0.55, Y:0.12, Z:-0.22 [[ 0.99997073 -0.00547242 -0.00534674 0.54568107] [ 0.00546672 0.99998447 -0.00108136 0.11757595] [ 0.00535257 0.0010521 0.99998512 -0.22350993] [ 0. 0. 0. 1. ]] SLAMing on 15.06719347 meters Centerline goodness [0,1] 0.889154671769698 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 0.99995541 -0.00723568 -0.00606883 0.5501891 ] [ 0.00722124 0.99997105 -0.00239781 0.11263162] [ 0.00608601 0.00235388 0.99997871 -0.22760022] [ 0. 0. 0. 1. ]] SLAMing on 15.09719347 meters Centerline goodness [0,1] 0.8886063284278984 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 0.99995909 -0.0065994 -0.00618566 0.5514137 ] [ 0.00659073 0.99997727 -0.00142097 0.11058481] [ 0.0061949 0.00138014 0.99997986 -0.22898708] [ 0. 0. 0. 1. ]] SLAMing on 15.12719347 meters Centerline goodness [0,1] 0.8894654579556112 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 9.99962088e-01 -5.59615092e-03 -6.67125844e-03 5.54091788e-01] [ 5.59669054e-03 9.99984336e-01 6.22212019e-05 1.08597113e-01] [ 6.67080574e-03 -9.95558119e-05 9.99977745e-01 -2.31526814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15719347 meters Centerline goodness [0,1] 0.8907702868554074 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:-0.23 [[ 0.99996496 -0.004612 -0.00698583 0.55591078] [ 0.00461931 0.9999888 0.00103033 0.10830135] [ 0.006981 -0.00106256 0.99997507 -0.23300676] [ 0. 0. 0. 1. ]] SLAMing on 15.18719347 meters Centerline goodness [0,1] 0.889341875364007 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:-0.23 [[ 9.99965720e-01 -4.51390244e-03 -6.94149725e-03 5.55239054e-01] [ 4.52071924e-03 9.99989314e-01 9.66658766e-04 1.08837606e-01] [ 6.93705967e-03 -9.98006189e-04 9.99975440e-01 -2.32013474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21719347 meters Centerline goodness [0,1] 0.8860791344278794 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 0.99997472 -0.0032032 -0.00634841 0.55068293] [ 0.00321648 0.99999266 0.00208254 0.10990494] [ 0.00634169 -0.00210291 0.99997768 -0.22744521] [ 0. 0. 0. 1. ]] SLAMing on 15.247193470000001 meters Centerline goodness [0,1] 0.8866279069767442 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 0.99997399 -0.00262089 -0.00671901 0.55223456] [ 0.00263859 0.99999307 0.00262636 0.10980718] [ 0.00671208 -0.00264402 0.99997398 -0.22849782] [ 0. 0. 0. 1. ]] SLAMing on 15.27719347 meters Centerline goodness [0,1] 0.8862570064355408 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 0.99997348 -0.00207863 -0.00697961 0.55374212] [ 0.00210045 0.99999293 0.00311989 0.10872132] [ 0.00697308 -0.00313447 0.99997078 -0.22981142] [ 0. 0. 0. 1. ]] SLAMing on 15.30719347 meters Centerline goodness [0,1] 0.8867381419214885 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 0.99997299 -0.00166523 -0.00715857 0.55448299] [ 0.00169195 0.99999162 0.00372852 0.10655404] [ 0.00715231 -0.00374053 0.99996743 -0.2303626 ] [ 0. 0. 0. 1. ]] SLAMing on 15.33719347 meters Centerline goodness [0,1] 0.8860743620289673 Centerline is valid? [False, False] Translation: X:0.55, Y:0.11, Z:-0.23 [[ 0.99997183 -0.00140672 -0.00737331 0.55494817] [ 0.00143653 0.99999081 0.00403825 0.1056254 ] [ 0.00736757 -0.00404873 0.99996466 -0.23044986] [ 0. 0. 0. 1. ]] SLAMing on 15.36719347 meters Centerline goodness [0,1] 0.8845591307981613 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:-0.23 [[ 9.99970499e-01 -3.42638483e-04 -7.67359164e-03 5.56161959e-01] [ 3.82731486e-04 9.99986282e-01 5.22394392e-03 1.03497700e-01] [ 7.67169645e-03 -5.22672673e-03 9.99956912e-01 -2.31219305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39719347 meters Centerline goodness [0,1] 0.8860250453191091 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:-0.23 [[ 9.99968828e-01 5.69283674e-04 -7.87516983e-03 5.56253783e-01] [-5.21540888e-04 9.99981483e-01 6.06317103e-03 1.02530955e-01] [ 7.87847567e-03 -6.05887481e-03 9.99950609e-01 -2.30521406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42719347 meters Centerline goodness [0,1] 0.8867576848982327 Centerline is valid? [False, False] Translation: X:0.56, Y:0.10, Z:-0.23 [[ 0.99996759 0.00108021 -0.00797787 0.55631003] [-0.0010271 0.9999773 0.00665907 0.10094174] [ 0.00798488 -0.00665066 0.999946 -0.23024743] [ 0. 0. 0. 1. ]] SLAMing on 15.45719347 meters Centerline goodness [0,1] 0.8907141513574519 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:-0.23 [[ 9.99964375e-01 1.65219293e-04 -8.43923424e-03 5.58649451e-01] [-1.18093170e-04 9.99984400e-01 5.58436366e-03 9.44947889e-02] [ 8.44002524e-03 -5.58316811e-03 9.99948796e-01 -2.31539769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48719347 meters Centerline goodness [0,1] 0.8896700919415901 Centerline is valid? [False, False] Translation: X:0.56, Y:0.09, Z:-0.23 [[ 0.99996213 -0.00161033 -0.00855294 0.5589234 ] [ 0.00165077 0.99998748 0.00472365 0.08721234] [ 0.00854522 -0.00473759 0.99995227 -0.23133187] [ 0. 0. 0. 1. ]] SLAMing on 15.51719347 meters Centerline goodness [0,1] 0.8869758458119588 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.23 [[ 0.99995593 -0.00426676 -0.00836224 0.5562959 ] [ 0.00429901 0.99998338 0.00384243 0.07985829] [ 0.0083457 -0.00387821 0.99995765 -0.22831779] [ 0. 0. 0. 1. ]] SLAMing on 15.54719347 meters Centerline goodness [0,1] 0.885869225153822 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.23 [[ 0.99995524 -0.00522673 -0.00788674 0.55415312] [ 0.00525569 0.99997951 0.0036551 0.07471895] [ 0.00786747 -0.00369639 0.99996222 -0.22659071] [ 0. 0. 0. 1. ]] SLAMing on 15.577193470000001 meters Centerline goodness [0,1] 0.8858806830042166 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.23 [[ 0.99994538 -0.00664852 -0.0080639 0.55513094] [ 0.00667457 0.99997258 0.00320799 0.06449932] [ 0.00804235 -0.00326163 0.99996234 -0.22712306] [ 0. 0. 0. 1. ]] SLAMing on 15.60719347 meters Centerline goodness [0,1] 0.8897711837843485 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.23 [[ 0.99995303 -0.00507634 -0.00825637 0.55841967] [ 0.00511717 0.99997475 0.00493102 0.05561502] [ 0.00823113 -0.00497304 0.99995376 -0.23012525] [ 0. 0. 0. 1. ]] SLAMing on 15.63719347 meters Centerline goodness [0,1] 0.8900803170960676 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.23 [[ 0.9999555 -0.00387774 -0.00860046 0.56046186] [ 0.00393464 0.99997042 0.00660947 0.05200225] [ 0.00857458 -0.00664302 0.99994117 -0.231923 ] [ 0. 0. 0. 1. ]] SLAMing on 15.66719347 meters Centerline goodness [0,1] 0.891600050223915 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.23 [[ 0.999956 -0.0031798 -0.00882534 0.56128716] [ 0.00324717 0.99996562 0.00762927 0.04953394] [ 0.00880078 -0.00765759 0.99993195 -0.23245417] [ 0. 0. 0. 1. ]] SLAMing on 15.69719347 meters Centerline goodness [0,1] 0.8907397419408373 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.23 [[ 0.99994147 -0.00504639 -0.00957066 0.56337674] [ 0.00510952 0.99996528 0.00658249 0.04414519] [ 0.00953711 -0.00663101 0.99993253 -0.23308523] [ 0. 0. 0. 1. ]] SLAMing on 15.72719347 meters Centerline goodness [0,1] 0.8889604855640316 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:-0.23 [[ 0.99989149 -0.01102527 -0.00976978 0.56305712] [ 0.01105253 0.99993516 0.0027406 0.03187832] [ 0.00973893 -0.00284828 0.99994852 -0.23210653] [ 0. 0. 0. 1. ]] SLAMing on 15.75719347 meters Centerline goodness [0,1] 0.8866474543707973 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:-0.23 [[ 9.99819180e-01 -1.61687177e-02 -1.00089663e-02 5.64045368e-01] [ 1.61691042e-02 9.99869271e-01 -4.23116386e-05 1.94723000e-02] [ 1.00083420e-02 -1.19532032e-04 9.99949908e-01 -2.32734675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78719347 meters Centerline goodness [0,1] 0.8867675689254537 Centerline is valid? [False, False] Translation: X:0.56, Y:0.01, Z:-0.23 [[ 0.99983286 -0.01522643 -0.01011974 0.56461367] [ 0.01524971 0.99988124 0.00222722 0.0132325 ] [ 0.01008462 -0.00238117 0.99994631 -0.23324148] [ 0. 0. 0. 1. ]] SLAMing on 15.81719347 meters Centerline goodness [0,1] 0.8856826907027208 Centerline is valid? [False, False] Translation: X:0.57, Y:0.01, Z:-0.23 [[ 0.9998506 -0.01378849 -0.01042397 0.56574123] [ 0.0138388 0.99989286 0.0047701 0.00712725] [ 0.01035708 -0.00491364 0.99993429 -0.23391803] [ 0. 0. 0. 1. ]] SLAMing on 15.84719347 meters Centerline goodness [0,1] 0.8871863109965279 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:-0.23 [[ 0.99988954 -0.00934681 -0.0115562 0.56879 ] [ 0.00945657 0.99991035 0.00947978 -0.00527189] [ 0.01146656 -0.00958801 0.99988829 -0.23420424] [ 0. 0. 0. 1. ]] SLAMing on 15.87719347 meters Centerline goodness [0,1] 0.8841563743152896 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.24 [[ 0.99989478 -0.00768052 -0.01230617 0.57250214] [ 0.00781926 0.99990597 0.01126587 -0.01934933] [ 0.01221849 -0.01136091 0.99986081 -0.23605719] [ 0. 0. 0. 1. ]] SLAMing on 15.90719347 meters Centerline goodness [0,1] 0.8831602296991936 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.23 [[ 0.99985306 -0.01042794 -0.01360592 0.57453092] [ 0.01055261 0.9999027 0.00912359 -0.03487276] [ 0.01350946 -0.00926583 0.99986581 -0.23428301] [ 0. 0. 0. 1. ]] SLAMing on 15.93719347 meters Centerline goodness [0,1] 0.8864143467834428 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.23 [[ 0.99982672 -0.01279193 -0.01352428 0.57340899] [ 0.01290488 0.9998823 0.00829809 -0.04261881] [ 0.01341654 -0.00847118 0.99987411 -0.23292296] [ 0. 0. 0. 1. ]] SLAMing on 15.96719347 meters Centerline goodness [0,1] 0.8841932057236883 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.23 [[ 0.99975823 -0.01767463 -0.01308038 0.57273686] [ 0.01779771 0.99979786 0.00935356 -0.06016947] [ 0.01291241 -0.0095841 0.9998707 -0.23265279] [ 0. 0. 0. 1. ]] SLAMing on 15.997193470000001 meters Centerline goodness [0,1] 0.8793915399041468 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.08, Z:-0.24 [[ 0.99964036 -0.02309021 -0.01363826 0.57506187] [ 0.02321807 0.99968724 0.00929232 -0.07931536] [ 0.01341944 -0.00960563 0.99986382 -0.23520821] [ 0. 0. 0. 1. ]] SLAMing on 16.02719347 meters Centerline goodness [0,1] 0.8780039670111702 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:-0.24 [[ 0.99958344 -0.02532643 -0.0138388 0.57659686] [ 0.02544817 0.99963835 0.00869266 -0.08796499] [ 0.01361364 -0.00904121 0.99986645 -0.23631173] [ 0. 0. 0. 1. ]] SLAMing on 16.05719347 meters Centerline goodness [0,1] 0.8781325451669303 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.10, Z:-0.24 [[ 0.99955391 -0.02452359 -0.0170462 0.58655359] [ 0.02466413 0.99966311 0.00808416 -0.1023856 ] [ 0.0168422 -0.00850098 0.99982202 -0.23818311] [ 0. 0. 0. 1. ]] SLAMing on 16.08719347 meters Centerline goodness [0,1] 0.877934859668877 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.11, Z:-0.24 [[ 0.99958395 -0.02311916 -0.01724647 0.58790571] [ 0.02329838 0.99967586 0.01026408 -0.10776011] [ 0.01700359 -0.01066163 0.99979858 -0.23928893] [ 0. 0. 0. 1. ]] SLAMing on 16.11719347 meters Centerline goodness [0,1] 0.8826543312313309 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.12, Z:-0.24 [[ 0.99966491 -0.01862484 -0.01797736 0.59115787] [ 0.01889867 0.9997061 0.01518416 -0.11676227] [ 0.01768927 -0.01551882 0.99972309 -0.24125098] [ 0. 0. 0. 1. ]] SLAMing on 16.14719347 meters Centerline goodness [0,1] 0.8820086131203746 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.12, Z:-0.24 [[ 0.99971306 -0.01605074 -0.0177813 0.58914636] [ 0.01638332 0.99969054 0.01871922 -0.12497521] [ 0.01747534 -0.01900516 0.99966665 -0.23899883] [ 0. 0. 0. 1. ]] SLAMing on 16.17719347 meters Centerline goodness [0,1] 0.8820086131203746 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.12, Z:-0.24 [[ 0.99971306 -0.01605074 -0.0177813 0.58914636] [ 0.01638332 0.99969054 0.01871922 -0.12497521] [ 0.01747534 -0.01900516 0.99966665 -0.23899883] [ 0. 0. 0. 1. ]] SLAMing on 16.20719347 meters Centerline goodness [0,1] 0.8801536225866722 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.24 [[ 0.99966114 -0.01889049 -0.01790965 0.58880595] [ 0.01918569 0.99968049 0.01645668 -0.1292798 ] [ 0.01759306 -0.01679472 0.99970417 -0.23791864] [ 0. 0. 0. 1. ]] SLAMing on 16.23719347 meters Centerline goodness [0,1] 0.875303542890351 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.23 [[ 0.99947082 -0.0277694 -0.01693922 0.58504371] [ 0.0279407 0.99955995 0.00996121 -0.14387315] [ 0.01665515 -0.01042923 0.9998069 -0.23406841] [ 0. 0. 0. 1. ]] SLAMing on 16.26719347 meters Centerline goodness [0,1] 0.8694825677341188 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.24 [[ 0.99920877 -0.03632323 -0.0162008 0.58458177] [ 0.03647058 0.99929515 0.00889417 -0.15872693] [ 0.01586632 -0.00947799 0.9998292 -0.23502898] [ 0. 0. 0. 1. ]] SLAMing on 16.29719347 meters Centerline goodness [0,1] 0.8655221745350501 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.24 [[ 0.99890436 -0.04346313 -0.01735041 0.58919032] [ 0.04357609 0.99903096 0.00618599 -0.17215871] [ 0.01706473 -0.00693527 0.99983033 -0.23866442] [ 0. 0. 0. 1. ]] SLAMing on 16.32719347 meters Centerline goodness [0,1] 0.8639890460976722 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.24 [[ 0.99878148 -0.04617803 -0.01741121 0.59063065] [ 0.04626904 0.99891719 0.0048611 -0.17991335] [ 0.01716788 -0.00566078 0.9998366 -0.23963522] [ 0. 0. 0. 1. ]] SLAMing on 16.35719347 meters Centerline goodness [0,1] 0.8671406721507999 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.24 [[ 0.99856193 -0.05059225 -0.01773394 0.59443334] [ 0.0506354 0.99871522 0.00199281 -0.19259053] [ 0.01761033 -0.00288791 0.99984076 -0.24227148] [ 0. 0. 0. 1. ]] SLAMing on 16.38719347 meters Centerline goodness [0,1] 0.8678615138880246 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.20, Z:-0.24 [[ 0.99862845 -0.0492855 -0.01766778 0.59407944] [ 0.04938024 0.9987677 0.00496643 -0.19999497] [ 0.01740123 -0.00583206 0.99983158 -0.24168979] [ 0. 0. 0. 1. ]] SLAMing on 16.41719347 meters Centerline goodness [0,1] 0.8641453667471485 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.20, Z:-0.24 [[ 0.99865907 -0.04859261 -0.01785544 0.59410796] [ 0.04870903 0.99879411 0.00614398 -0.20281957] [ 0.01753535 -0.00700546 0.9998217 -0.24117203] [ 0. 0. 0. 1. ]] SLAMing on 16.44719347 meters Centerline goodness [0,1] 0.8689855193423194 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.24 [[ 0.99868496 -0.04798564 -0.018048 0.59525697] [ 0.04812998 0.99881179 0.00764971 -0.2094947 ] [ 0.01765948 -0.0085083 0.99980786 -0.24180903] [ 0. 0. 0. 1. ]] SLAMing on 16.47719347 meters Centerline goodness [0,1] 0.8689308280678417 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.24 [[ 0.99860332 -0.0494117 -0.01870557 0.5984722 ] [ 0.04954337 0.99874989 0.0066422 -0.21193468] [ 0.01835399 -0.00755966 0.99980297 -0.24391315] [ 0. 0. 0. 1. ]] SLAMing on 16.50719347 meters Centerline goodness [0,1] 0.8748669352313762 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.24 [[ 0.99837521 -0.05394084 -0.01836646 0.59915528] [ 0.0540162 0.99853346 0.00363141 -0.21606835] [ 0.01814365 -0.00461759 0.99982473 -0.24492134] [ 0. 0. 0. 1. ]] SLAMing on 16.537193470000002 meters Centerline goodness [0,1] 0.8780013792238731 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.25 [[ 9.98082033e-01 -5.91644813e-02 -1.82159216e-02 6.00087681e-01] [ 5.91668607e-02 9.98248023e-01 -4.08755728e-04 -2.16744754e-01] [ 1.82081916e-02 -6.69807149e-04 9.99833993e-01 -2.45848023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56719347 meters Centerline goodness [0,1] 0.884543645859239 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.25 [[ 0.99786796 -0.06409241 -0.01231639 0.60871894] [ 0.06415203 0.99792996 0.00450747 -0.21400268] [ 0.012002 -0.00528799 0.99991399 -0.24760681] [ 0. 0. 0. 1. ]] SLAMing on 16.59719347 meters Centerline goodness [0,1] 0.8837247938861545 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.25 [[ 0.99792532 -0.0632389 -0.01207873 0.60619734] [ 0.06330346 0.9979816 0.00503938 -0.21270757] [ 0.01173567 -0.00579355 0.99991435 -0.24514863] [ 0. 0. 0. 1. ]] SLAMing on 16.62719347 meters Centerline goodness [0,1] 0.8795760479538713 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.24 [[ 9.98197763e-01 -5.85757990e-02 -1.30423078e-02 6.09749141e-01] [ 5.85632211e-02 9.98282796e-01 -1.34455986e-03 -2.04437147e-01] [ 1.30986702e-02 5.78337085e-04 9.99914041e-01 -2.39489765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65719347 meters Centerline goodness [0,1] 0.8747470955092506 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.24 [[ 0.99841799 -0.05466233 -0.01317382 0.60978298] [ 0.05468233 0.99850312 0.0011628 -0.19927824] [ 0.01309054 -0.00188133 0.99991255 -0.23994187] [ 0. 0. 0. 1. ]] SLAMing on 16.68719347 meters Centerline goodness [0,1] 0.8694251631406127 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.25 [[ 0.99898658 -0.04242579 -0.01502904 0.61400008] [ 0.04254968 0.99906215 0.00802144 -0.18468318] [ 0.01467463 -0.00865279 0.99985488 -0.24517098] [ 0. 0. 0. 1. ]] SLAMing on 16.71719347 meters Centerline goodness [0,1] 0.8735245220282627 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.25 [[ 0.99940448 -0.03055078 -0.0160418 0.61743272] [ 0.03081242 0.99939187 0.01632438 -0.17112065] [ 0.01553332 -0.01680894 0.99973805 -0.24929035] [ 0. 0. 0. 1. ]] SLAMing on 16.74719347 meters Centerline goodness [0,1] 0.881657052085946 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.25 [[ 0.99965008 -0.02059209 -0.01660363 0.61786126] [ 0.02097275 0.99951343 0.02308768 -0.15779026] [ 0.01612013 -0.02342783 0.99959556 -0.24941662] [ 0. 0. 0. 1. ]] SLAMing on 16.77719347 meters Centerline goodness [0,1] 0.88413773052002 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.25 [[ 0.99970207 -0.01738288 -0.01713495 0.61879978] [ 0.01780826 0.99952898 0.02499366 -0.15213776] [ 0.01669242 -0.02529135 0.99954075 -0.24965468] [ 0. 0. 0. 1. ]] SLAMing on 16.80719347 meters Centerline goodness [0,1] 0.8821074054076504 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.25 [[ 0.99977118 -0.01131687 -0.01815246 0.62141667] [ 0.0115416 0.99985745 0.01232344 -0.14293577] [ 0.01801041 -0.01253012 0.99975928 -0.2507606 ] [ 0. 0. 0. 1. ]] SLAMing on 16.83719347 meters Centerline goodness [0,1] 0.88136511375948 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.25 [[ 0.99976807 -0.01140048 -0.01827102 0.62236679] [ 0.01160917 0.99986812 0.01135676 -0.13909101] [ 0.01813914 -0.01156624 0.99976857 -0.25178206] [ 0. 0. 0. 1. ]] SLAMing on 16.86719347 meters Centerline goodness [0,1] 0.8814497336884155 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.25 [[ 0.9997621 -0.01161822 -0.0184599 0.62286339] [ 0.01182296 0.99986937 0.01102056 -0.13800245] [ 0.01832945 -0.01123619 0.99976886 -0.2519386 ] [ 0. 0. 0. 1. ]] SLAMing on 16.89719347 meters Centerline goodness [0,1] 0.8882100258570356 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.25 [[ 0.99973376 -0.01427169 -0.01813089 0.6211928 ] [ 0.01442969 0.99985878 0.00861389 -0.13876076] [ 0.0180054 -0.00887322 0.99979852 -0.25054662] [ 0. 0. 0. 1. ]] SLAMing on 16.92719347 meters Centerline goodness [0,1] 0.8868198708766686 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.25 [[ 0.99981408 -0.01863528 -0.00495208 0.62300613] [ 0.01866471 0.99980801 0.00596391 -0.1445401 ] [ 0.00483999 -0.00605523 0.99996995 -0.25239696] [ 0. 0. 0. 1. ]] SLAMing on 16.95719347 meters Centerline goodness [0,1] 0.887705569736787 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.25 [[ 0.99978009 -0.02047127 -0.00454871 0.62089918] [ 0.02049177 0.99977986 0.00450684 -0.14840451] [ 0.00445545 -0.00459906 0.9999795 -0.25044041] [ 0. 0. 0. 1. ]] SLAMing on 16.98719347 meters Centerline goodness [0,1] 0.8853893263342082 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.25 [[ 0.99973911 -0.02242569 -0.00433526 0.6199308 ] [ 0.02244053 0.99974238 0.00340401 -0.15480603] [ 0.0042578 -0.00350041 0.99998481 -0.24925172] [ 0. 0. 0. 1. ]] SLAMing on 17.01719347 meters Centerline goodness [0,1] 0.8839289437471332 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.25 [[ 0.99975529 -0.021685 -0.00437296 0.6198566 ] [ 0.02170626 0.9997525 0.00487526 -0.15881362] [ 0.00426615 -0.00496899 0.99997855 -0.2489612 ] [ 0. 0. 0. 1. ]] SLAMing on 17.04719347 meters Centerline goodness [0,1] 0.8850452034153692 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.25 [[ 0.99975789 -0.02165661 -0.00389387 0.61874187] [ 0.0216799 0.99974671 0.00604104 -0.16795788] [ 0.00376205 -0.00612399 0.99997417 -0.24830562] [ 0. 0. 0. 1. ]] SLAMing on 17.07719347 meters Centerline goodness [0,1] 0.8836542059960913 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.25 [[ 0.99976473 -0.02121927 -0.00449657 0.62194557] [ 0.02125419 0.99974318 0.0078638 -0.17592174] [ 0.00432855 -0.00795753 0.99995897 -0.25060979] [ 0. 0. 0. 1. ]] SLAMing on 17.10719347 meters Centerline goodness [0,1] 0.8826026051140521 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.25 [[ 0.99971548 -0.02339096 -0.00467066 0.62417513] [ 0.02342533 0.99969787 0.0074446 -0.18526476] [ 0.00449511 -0.00755189 0.99996138 -0.25260757] [ 0. 0. 0. 1. ]] SLAMing on 17.13719347 meters Centerline goodness [0,1] 0.8837436579888547 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.25 [[ 0.99966715 -0.02525654 -0.00526332 0.62711367] [ 0.02528903 0.99966094 0.00620177 -0.19019543] [ 0.0051049 -0.00633281 0.99996692 -0.25463905] [ 0. 0. 0. 1. ]] SLAMing on 17.16719347 meters Centerline goodness [0,1] 0.8841002962159457 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.26 [[ 0.99956186 -0.02899757 -0.00593458 0.63162333] [ 0.02901853 0.99957283 0.00347688 -0.20048347] [ 0.00583123 -0.00364757 0.99997635 -0.25806294] [ 0. 0. 0. 1. ]] SLAMing on 17.19719347 meters Centerline goodness [0,1] 0.8841547385552727 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.26 [[ 9.99377875e-01 -3.47280041e-02 -6.15052124e-03 6.33115725e-01] [ 3.47264197e-02 9.99396790e-01 -3.64246125e-04 -2.11765581e-01] [ 6.15946072e-03 1.50433936e-04 9.99981019e-01 -2.58515495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22719347 meters Centerline goodness [0,1] 0.8805209395219173 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.26 [[ 0.99926833 -0.03774143 -0.0061953 0.63358979] [ 0.0377283 0.99928556 -0.00222296 -0.21732165] [ 0.00627478 0.00198759 0.99997834 -0.25850456] [ 0. 0. 0. 1. ]] SLAMing on 17.25719347 meters Centerline goodness [0,1] 0.8755534207668533 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.26 [[ 9.99119978e-01 -4.15849344e-02 -5.47389565e-03 6.32614208e-01] [ 4.15890276e-02 9.99134600e-01 6.36017774e-04 -2.30054737e-01] [ 5.44270978e-03 -8.63112062e-04 9.99984816e-01 -2.55317678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287193470000002 meters Centerline goodness [0,1] 0.8756212723658052 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.25 [[ 9.98978604e-01 -4.48293000e-02 -5.66414374e-03 6.33104915e-01] [ 4.48239655e-02 9.98994333e-01 -1.06532824e-03 -2.36199205e-01] [ 5.70620541e-03 8.10350739e-04 9.99983391e-01 -2.54748204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31719347 meters Centerline goodness [0,1] 0.876310359919138 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.25, Z:-0.25 [[ 0.99855283 -0.05351444 -0.00533473 0.6324335 ] [ 0.05347255 0.99853957 -0.00770804 -0.24891263] [ 0.00573943 0.00741163 0.99995606 -0.25303406] [ 0. 0. 0. 1. ]] SLAMing on 17.34719347 meters Centerline goodness [0,1] 0.874681960375391 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.26, Z:-0.25 [[ 0.99843599 -0.05568957 -0.00492324 0.63188196] [ 0.05564843 0.99841732 -0.00813125 -0.26147945] [ 0.00536827 0.00784457 0.99995482 -0.25235939] [ 0. 0. 0. 1. ]] SLAMing on 17.37719347 meters Centerline goodness [0,1] 0.8758673862760216 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.27, Z:-0.25 [[ 0.99847364 -0.05499914 -0.00504848 0.63213206] [ 0.05496596 0.99846712 -0.00649217 -0.26579289] [ 0.0053978 0.00620477 0.99996618 -0.25227012] [ 0. 0. 0. 1. ]] SLAMing on 17.40719347 meters Centerline goodness [0,1] 0.8744418944293761 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.27, Z:-0.26 [[ 0.99857331 -0.05308806 -0.0057453 0.6356518 ] [ 0.05307023 0.99858561 -0.00321262 -0.27230899] [ 0.00590772 0.00290314 0.99997834 -0.25506518] [ 0. 0. 0. 1. ]] SLAMing on 17.43719347 meters Centerline goodness [0,1] 0.8789398429243426 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.28, Z:-0.26 [[ 0.99857923 -0.05284503 -0.00685047 0.64127468] [ 0.05283507 0.99860193 -0.0016268 -0.27950983] [ 0.00692687 0.00126254 0.99997521 -0.2592199 ] [ 0. 0. 0. 1. ]] SLAMing on 17.46719347 meters Centerline goodness [0,1] 0.8772641254393079 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.28, Z:-0.26 [[ 9.98586752e-01 -5.26592517e-02 -7.17642476e-03 6.42435838e-01] [ 5.26574569e-02 9.98612537e-01 -4.38939909e-04 -2.83685222e-01] [ 7.18958199e-03 6.04273006e-05 9.99974153e-01 -2.59756485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49719347 meters Centerline goodness [0,1] 0.8824726427043751 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.26 [[ 0.99823894 -0.05884333 -0.00751542 0.64576865] [ 0.05880196 0.99825389 -0.00561275 -0.28794659] [ 0.00783257 0.00516094 0.99995601 -0.26207633] [ 0. 0. 0. 1. ]] SLAMing on 17.52719347 meters Centerline goodness [0,1] 0.8831435504946799 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.26 [[ 0.99792535 -0.0639517 -0.00742796 0.64660571] [ 0.06388085 0.99791313 -0.00941345 -0.29065526] [ 0.00801446 0.00891941 0.9999281 -0.26231652] [ 0. 0. 0. 1. ]] SLAMing on 17.55719347 meters Centerline goodness [0,1] 0.8854941332011238 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.26 [[ 0.99788823 -0.06449395 -0.00772091 0.64751404] [ 0.06442111 0.99787911 -0.00933789 -0.29194736] [ 0.00830677 0.00882078 0.99992659 -0.26261144] [ 0. 0. 0. 1. ]] SLAMing on 17.58719347 meters Centerline goodness [0,1] 0.8820308922103335 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.26 [[ 0.99783677 -0.06527542 -0.00780352 0.64797764] [ 0.06519885 0.9978252 -0.00969455 -0.2922835 ] [ 0.00841937 0.00916479 0.99992256 -0.26278798] [ 0. 0. 0. 1. ]] SLAMing on 17.61719347 meters Centerline goodness [0,1] 0.8860105784848611 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.29, Z:-0.26 [[ 0.99806188 -0.06172506 -0.00790618 0.64679351] [ 0.06167331 0.99807437 -0.00662932 -0.2894774 ] [ 0.00830015 0.00612887 0.99994677 -0.26150993] [ 0. 0. 0. 1. ]] SLAMing on 17.64719347 meters Centerline goodness [0,1] 0.8853108640790873 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.28, Z:-0.26 [[ 9.98476716e-01 -5.45750568e-02 -8.11235737e-03 6.44462027e-01] [ 5.45657924e-02 9.98509252e-01 -1.35914644e-03 -2.81886935e-01] [ 8.17443938e-03 9.14418862e-04 9.99966171e-01 -2.59178759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.67719347 meters Centerline goodness [0,1] 0.8838473231576536 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.28, Z:-0.26 [[ 0.99869916 -0.05029737 -0.0083759 0.64460962] [ 0.05031182 0.9987324 0.00152353 -0.27714526] [ 0.00828865 -0.00194296 0.99996376 -0.25947068] [ 0. 0. 0. 1. ]] SLAMing on 17.70719347 meters Centerline goodness [0,1] 0.8875206270627063 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.27, Z:-0.26 [[ 0.99927972 -0.03518934 -0.01420363 0.66118315] [ 0.03513951 0.99937541 -0.00374279 -0.26578988] [ 0.01432647 0.00324099 0.99989212 -0.25900085] [ 0. 0. 0. 1. ]] SLAMing on 17.73719347 meters Centerline goodness [0,1] 0.8905959991750877 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.26, Z:-0.25 [[ 0.99963173 -0.02197349 -0.01592419 0.66588185] [ 0.02193015 0.99975532 -0.00289129 -0.2559462 ] [ 0.01598383 0.00254101 0.99986902 -0.25407439] [ 0. 0. 0. 1. ]] SLAMing on 17.76719347 meters Centerline goodness [0,1] 0.8920794745892638 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.25, Z:-0.25 [[ 9.99724646e-01 -1.72615992e-02 -1.58955861e-02 6.64774637e-01] [ 1.72743652e-02 9.99850565e-01 6.66153381e-04 -2.52418951e-01] [ 1.58817119e-02 -9.40556113e-04 9.99873435e-01 -2.52933525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79719347 meters Centerline goodness [0,1] 0.877509708336776 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.25, Z:-0.25 [[ 0.99991656 -0.00797073 -0.01016591 0.66952681] [ 0.00795205 0.99996662 -0.0018767 -0.2483091 ] [ 0.01018053 0.0017957 0.99994656 -0.25187633] [ 0. 0. 0. 1. ]] SLAMing on 17.82719347 meters Centerline goodness [0,1] 0.8787569302597024 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.25, Z:-0.25 [[ 9.99935666e-01 -5.87358603e-03 -9.70387053e-03 6.66957685e-01] [ 5.87469354e-03 9.99982740e-01 8.56309918e-05 -2.48673817e-01] [ 9.70320009e-03 -1.42632748e-04 9.99952913e-01 -2.49842868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.85719347 meters Centerline goodness [0,1] 0.8723430909926086 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.25, Z:-0.25 [[ 0.99994291 -0.00357753 -0.0100691 0.66934077] [ 0.00360257 0.99999046 0.00246985 -0.24952135] [ 0.01006017 -0.00250598 0.99994626 -0.25190999] [ 0. 0. 0. 1. ]] SLAMing on 17.88719347 meters Centerline goodness [0,1] 0.873582554517134 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.25, Z:-0.26 [[ 0.99993808 -0.00316942 -0.01066772 0.67377029] [ 0.00320846 0.99998821 0.0036449 -0.25401691] [ 0.01065604 -0.00367891 0.99993646 -0.25580928] [ 0. 0. 0. 1. ]] SLAMing on 17.91719347 meters Centerline goodness [0,1] 0.8639237226655612 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.26, Z:-0.26 [[ 0.99993687 -0.00296001 -0.01083986 0.67431837] [ 0.00301033 0.99998476 0.00462844 -0.25841455] [ 0.01082599 -0.00466078 0.99993054 -0.25598489] [ 0. 0. 0. 1. ]] SLAMing on 17.94719347 meters Centerline goodness [0,1] 0.8566563596857764 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.27, Z:-0.26 [[ 0.999932 -0.004787 -0.01063364 0.67379828] [ 0.00483011 0.99998021 0.00403225 -0.26678729] [ 0.01061413 -0.00408333 0.99993533 -0.25563913] [ 0. 0. 0. 1. ]] SLAMing on 17.97719347 meters Centerline goodness [0,1] 0.8708116002503651 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.27, Z:-0.26 [[ 0.99993133 -0.00468375 -0.01074205 0.67435267] [ 0.00473889 0.9999757 0.00511363 -0.27143103] [ 0.01071784 -0.00516419 0.99992923 -0.25589393] [ 0. 0. 0. 1. ]] SLAMing on 18.00719347 meters Centerline goodness [0,1] 0.8751147267417605 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.26 [[ 0.9999014 -0.00829432 -0.01133097 0.67752456] [ 0.00835165 0.99995252 0.00502149 -0.28308305] [ 0.01128879 -0.00511563 0.99992319 -0.25845532] [ 0. 0. 0. 1. ]] SLAMing on 18.03719347 meters Centerline goodness [0,1] 0.8854351501993613 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.26 [[ 0.99989998 -0.00829517 -0.01145536 0.67804658] [ 0.00836608 0.99994605 0.00615596 -0.28734985] [ 0.01140368 -0.00625118 0.99991544 -0.25865118] [ 0. 0. 0. 1. ]] SLAMing on 18.06719347 meters Centerline goodness [0,1] 0.8854351501993613 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.26 [[ 0.99989998 -0.00829517 -0.01145536 0.67804658] [ 0.00836608 0.99994605 0.00615596 -0.28734985] [ 0.01140368 -0.00625118 0.99991544 -0.25865118] [ 0. 0. 0. 1. ]] SLAMing on 18.09719347 meters Centerline goodness [0,1] 0.8833710336812833 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.30, Z:-0.26 [[ 0.99983433 -0.01357487 -0.01212621 0.68057215] [ 0.01359975 0.99990557 0.00197199 -0.29562355] [ 0.01209829 -0.00213658 0.99992453 -0.25982699] [ 0. 0. 0. 1. ]] SLAMing on 18.12719347 meters Centerline goodness [0,1] 0.8836630067041658 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.30, Z:-0.26 [[ 9.99783931e-01 -1.67514101e-02 -1.23077902e-02 6.81518277e-01] [ 1.67488974e-02 9.99859680e-01 -3.07212962e-04 -3.01126454e-01] [ 1.23112094e-02 1.01004668e-04 9.99924209e-01 -2.60285552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15719347 meters Centerline goodness [0,1] 0.8878807517822424 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.31, Z:-0.27 [[ 9.99527539e-01 -2.81921414e-02 -1.22434058e-02 6.82386314e-01] [ 2.81941808e-02 9.99602465e-01 -6.03385168e-06 -3.14242834e-01] [ 1.22387087e-02 -3.39161795e-04 9.99925047e-01 -2.66461208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18719347 meters Centerline goodness [0,1] 0.8885621452661019 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.32, Z:-0.27 [[ 0.99949976 -0.02947286 -0.01147075 0.7018591 ] [ 0.02949513 0.99956334 0.00177732 -0.31927139] [ 0.01141336 -0.00211476 0.99993263 -0.26768635] [ 0. 0. 0. 1. ]] SLAMing on 18.21719347 meters Centerline goodness [0,1] 0.885007458975634 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.32, Z:-0.27 [[ 9.99372825e-01 -3.35043572e-02 -1.14636070e-02 7.02223160e-01] [ 3.34926130e-02 9.99438227e-01 -1.21497685e-03 -3.22745963e-01] [ 1.14978741e-02 8.30268691e-04 9.99933553e-01 -2.67694513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24719347 meters Centerline goodness [0,1] 0.8847322208813616 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.33, Z:-0.27 [[ 0.99909339 -0.04110711 -0.01107267 0.70086965] [ 0.04103086 0.99913317 -0.00702728 -0.32925335] [ 0.01135194 0.00656658 0.999914 -0.26568453] [ 0. 0. 0. 1. ]] SLAMing on 18.27719347 meters Centerline goodness [0,1] 0.8861209964412812 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.33, Z:-0.27 [[ 0.99892916 -0.04490874 -0.01112378 0.70151161] [ 0.04479983 0.99894739 -0.00985357 -0.33369105] [ 0.01155459 0.00934468 0.99988958 -0.26575745] [ 0. 0. 0. 1. ]] SLAMing on 18.30719347 meters Centerline goodness [0,1] 0.8852777255933371 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.34, Z:-0.27 [[ 0.99892766 -0.04488919 -0.01133564 0.7024444 ] [ 0.0447839 0.99895269 -0.00937723 -0.3356169 ] [ 0.0117447 0.00885952 0.99989178 -0.2663843 ] [ 0. 0. 0. 1. ]] SLAMing on 18.33719347 meters Centerline goodness [0,1] 0.8837593607496967 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.34, Z:-0.27 [[ 0.99885588 -0.04633436 -0.01183504 0.70558603] [ 0.0462131 0.99887828 -0.01032177 -0.33628302] [ 0.01230001 0.00976303 0.99987669 -0.26897356] [ 0. 0. 0. 1. ]] SLAMing on 18.36719347 meters Centerline goodness [0,1] 0.8813951549013885 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.34, Z:-0.27 [[ 0.9987417 -0.04870515 -0.01195112 0.70767535] [ 0.04856269 0.99874884 -0.01193437 -0.33625779] [ 0.01251744 0.01133897 0.99985736 -0.27082143] [ 0. 0. 0. 1. ]] SLAMing on 18.39719347 meters Centerline goodness [0,1] 0.882106018098593 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.34, Z:-0.27 [[ 0.99871506 -0.04925268 -0.01193292 0.70754727] [ 0.04910841 0.99872021 -0.01209563 -0.33642792] [ 0.01251339 0.01149408 0.99985564 -0.27053011] [ 0. 0. 0. 1. ]] SLAMing on 18.42719347 meters Centerline goodness [0,1] 0.8772811260821725 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.27 [[ 0.99871736 -0.05018232 -0.006736 0.72189439] [ 0.05008204 0.99864257 -0.01431083 -0.33238926] [ 0.00744501 0.01395512 0.99987491 -0.26865934] [ 0. 0. 0. 1. ]] SLAMing on 18.45719347 meters Centerline goodness [0,1] 0.883419689119171 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.26 [[ 0.99881213 -0.04833955 -0.00613395 0.71750877] [ 0.04825563 0.99874829 -0.0131621 -0.32668255] [ 0.00676252 0.01285046 0.99989456 -0.26460768] [ 0. 0. 0. 1. ]] SLAMing on 18.48719347 meters Centerline goodness [0,1] 0.886006026113157 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.27 [[ 9.99001599e-01 -4.46663739e-02 8.48853240e-04 7.26684766e-01] [ 4.46744387e-02 9.98818715e-01 -1.91146059e-02 -3.21718930e-01] [ 5.92963046e-06 1.91334439e-02 9.99816939e-01 -2.67252532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.51719347 meters Centerline goodness [0,1] 0.8840283569641367 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.31, Z:-0.27 [[ 9.99356118e-01 -3.58773536e-02 4.05980048e-04 7.26771525e-01] [ 3.58796469e-02 9.99286910e-01 -1.17610654e-02 -3.12031024e-01] [ 1.62653529e-05 1.17680590e-02 9.99930754e-01 -2.67054241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54719347 meters Centerline goodness [0,1] 0.879628467428141 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.30, Z:-0.27 [[ 9.99671329e-01 -2.56256243e-02 -7.48791808e-04 7.29148842e-01] [ 2.56198490e-02 9.99647889e-01 -6.90813689e-03 -2.97008234e-01] [ 9.25553470e-04 6.88668246e-03 9.99975858e-01 -2.70986693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57719347 meters Centerline goodness [0,1] 0.8793221039578382 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.28, Z:-0.27 [[ 0.9998978 -0.01315032 0.0056088 0.73955953] [ 0.01317856 0.99990051 -0.00502876 -0.27865132] [-0.00554211 0.00510216 0.99997163 -0.2740216 ] [ 0. 0. 0. 1. ]] SLAMing on 18.60719347 meters Centerline goodness [0,1] 0.8833989637305699 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.27, Z:-0.27 [[ 9.99961719e-01 -6.56698589e-03 5.78236503e-03 7.37832325e-01] [ 6.56849925e-03 9.99978398e-01 -2.42767149e-04 -2.69720985e-01] [-5.78064587e-03 2.80739315e-04 9.99983253e-01 -2.72386998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63719347 meters Centerline goodness [0,1] 0.882691661062542 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.27 [[ 0.99999145 0.00343625 0.00229912 0.72415749] [-0.00342768 0.99998721 -0.00371934 -0.25018467] [-0.00231187 0.00371142 0.99999044 -0.26617723] [ 0. 0. 0. 1. ]] SLAMing on 18.66719347 meters Centerline goodness [0,1] 0.887336226407259 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.27 [[ 0.99997359 0.00695219 0.00211674 0.72460665] [-0.00694832 0.99997419 -0.00182906 -0.24359035] [-0.0021294 0.00181431 0.99999609 -0.26615183] [ 0. 0. 0. 1. ]] SLAMing on 18.69719347 meters Centerline goodness [0,1] 0.8883103412509076 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.24, Z:-0.27 [[ 9.99947634e-01 1.00210741e-02 2.07542569e-03 7.25365630e-01] [-1.00207777e-02 9.99949779e-01 -1.53141218e-04 -2.37599909e-01] [-2.07685610e-03 1.32335819e-04 9.99997835e-01 -2.66908976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72719347 meters Centerline goodness [0,1] 0.8852725454242374 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.27 [[ 0.99988584 0.01501748 0.00166901 0.72886862] [-0.01502285 0.99988187 0.00325115 -0.22916888] [-0.00161999 -0.00327585 0.99999332 -0.27029394] [ 0. 0. 0. 1. ]] SLAMing on 18.75719347 meters Centerline goodness [0,1] 0.8850524566323881 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.27 [[ 0.99990369 0.01382496 0.00121468 0.7314837 ] [-0.01382665 0.99990344 0.00139261 -0.225597 ] [-0.00119531 -0.00140927 0.99999829 -0.27261773] [ 0. 0. 0. 1. ]] SLAMing on 18.78719347 meters Centerline goodness [0,1] 0.8837746689982513 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.28 [[ 9.99922127e-01 1.24565276e-02 7.58023725e-04 7.34256902e-01] [-1.24563608e-02 9.99922391e-01 -2.24368811e-04 -2.23660380e-01] [-7.60759752e-04 2.14909122e-04 9.99999688e-01 -2.75114435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81719347 meters Centerline goodness [0,1] 0.8847227429904595 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.22, Z:-0.28 [[ 9.99943118e-01 1.06589166e-02 3.84436699e-04 7.37143909e-01] [-1.06581408e-02 9.99941267e-01 -1.96640529e-03 -2.22313381e-01] [-4.05373870e-04 1.96219606e-03 9.99997993e-01 -2.77923473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84719347 meters Centerline goodness [0,1] 0.8884048257372654 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.22, Z:-0.28 [[ 9.99943526e-01 1.06216330e-02 3.54057945e-04 7.37262799e-01] [-1.06209975e-02 9.99942062e-01 -1.75104297e-03 -2.23279923e-01] [-3.72636367e-04 1.74718363e-03 9.99998404e-01 -2.77975645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87719347 meters Centerline goodness [0,1] 0.8878251256700666 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.28 [[ 9.99963408e-01 8.53926628e-03 5.13228978e-04 7.35428261e-01] [-8.53737803e-03 9.99957165e-01 -3.57515517e-03 -2.27562190e-01] [-5.43736196e-04 3.57064272e-03 9.99993477e-01 -2.75794808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90719347 meters Centerline goodness [0,1] 0.8904919534486707 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.23, Z:-0.27 [[ 9.99959849e-01 8.95270879e-03 3.86056497e-04 7.35127583e-01] [-8.95165225e-03 9.99956404e-01 -2.65673856e-03 -2.30876562e-01] [-4.09824673e-04 2.65317605e-03 9.99996396e-01 -2.74977547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93719347 meters Centerline goodness [0,1] 0.8887963868711887 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.27 [[ 9.99955726e-01 9.40040620e-03 4.22694159e-04 7.34702894e-01] [-9.39962898e-03 9.99954194e-01 -1.80459250e-03 -2.33623281e-01] [-4.39638700e-04 1.80053944e-03 9.99998282e-01 -2.74432487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96719347 meters Centerline goodness [0,1] 0.8889330543933054 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.24, Z:-0.27 [[ 9.99949861e-01 9.99738238e-03 5.72768763e-04 7.34317995e-01] [-9.99687489e-03 9.99949641e-01 -8.82146178e-04 -2.35814876e-01] [-5.81559072e-04 8.76376051e-04 9.99999447e-01 -2.74235540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99719347 meters Centerline goodness [0,1] 0.8874536037075094 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.24, Z:-0.27 [[ 9.99939880e-01 1.09235327e-02 9.55707304e-04 7.33817447e-01] [-1.09242876e-02 9.99940017e-01 7.88271603e-04 -2.39885401e-01] [-9.47039267e-04 -7.98664634e-04 9.99999233e-01 -2.74430551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02719347 meters Centerline goodness [0,1] 0.8824942552747024 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.28 [[ 9.99949081e-01 1.00783776e-02 5.12212339e-04 7.36223670e-01] [-1.00785516e-02 9.99949153e-01 3.38437643e-04 -2.42466976e-01] [-5.08775392e-04 -3.43582768e-04 9.99999812e-01 -2.76420540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05719347 meters Centerline goodness [0,1] 0.8890714526457701 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.25, Z:-0.28 [[ 9.99969387e-01 7.79480721e-03 6.82516259e-04 7.37430179e-01] [-7.79450177e-03 9.99969522e-01 -4.49032723e-04 -2.51615893e-01] [-6.85995581e-04 4.43699103e-04 9.99999666e-01 -2.78397402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08719347 meters Centerline goodness [0,1] 0.8894787644787645 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.26, Z:-0.28 [[ 9.99986151e-01 5.25836198e-03 2.19598684e-04 7.39961900e-01] [-5.25788154e-03 9.99983900e-01 -2.13392138e-03 -2.56485657e-01] [-2.30816080e-04 2.13273720e-03 9.99997699e-01 -2.80575977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11719347 meters Centerline goodness [0,1] 0.8914701076710377 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.27, Z:-0.28 [[ 9.99999788e-01 -5.68103916e-04 -3.16997610e-04 7.43279421e-01] [ 5.66199666e-04 9.99981988e-01 -5.97523880e-03 -2.65694442e-01] [ 3.20386457e-04 5.97505805e-03 9.99982098e-01 -2.83721292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14719347 meters Centerline goodness [0,1] 0.893539050950507 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.27, Z:-0.29 [[ 9.99995538e-01 -2.90726416e-03 -6.87094405e-04 7.45560267e-01] [ 2.90205236e-03 9.99967901e-01 -7.46831213e-03 -2.69921071e-01] [ 7.08784706e-04 7.46628482e-03 9.99971876e-01 -2.85640249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.17719347 meters Centerline goodness [0,1] 0.8921401694309559 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.27, Z:-0.29 [[ 9.99995502e-01 -2.94189220e-03 -5.83455122e-04 7.45582038e-01] [ 2.93818849e-03 9.99976150e-01 -6.25030056e-03 -2.74450734e-01] [ 6.01828918e-04 6.24855815e-03 9.99980296e-01 -2.85747453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20719347 meters Centerline goodness [0,1] 0.8944092914828075 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.28, Z:-0.29 [[ 9.99977545e-01 -4.31471052e-03 5.12770850e-03 7.57467883e-01] [ 4.30996435e-03 9.99990274e-01 9.36282453e-04 -2.83438553e-01] [-5.13169842e-03 -9.14161188e-04 9.99986415e-01 -2.89343903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23719347 meters Centerline goodness [0,1] 0.8942631469548951 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.29, Z:-0.29 [[ 0.99998155 -0.00352569 0.00494721 0.75810642] [ 0.00351434 0.99999118 0.00230036 -0.28743462] [-0.00495528 -0.00228293 0.99998512 -0.28965959] [ 0. 0. 0. 1. ]] SLAMing on 19.26719347 meters Centerline goodness [0,1] 0.8977508077209841 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.29, Z:-0.29 [[ 0.99998539 -0.00251627 0.00478478 0.75858998] [ 0.00249954 0.99999075 0.00350065 -0.29051768] [-0.00479354 -0.00348864 0.99998243 -0.28980178] [ 0. 0. 0. 1. ]] SLAMing on 19.29719347 meters Centerline goodness [0,1] 0.898456094529983 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.29, Z:-0.29 [[ 0.99998733 -0.00118535 0.00489274 0.75830491] [ 0.00116168 0.99998763 0.00483719 -0.29305866] [-0.00489842 -0.00483145 0.99997633 -0.28963569] [ 0. 0. 0. 1. ]] SLAMing on 19.32719347 meters Centerline goodness [0,1] 0.8818648921832885 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.30, Z:-0.29 [[ 0.99997623 0.00477668 0.00497126 0.75842974] [-0.00483086 0.99992844 0.01094417 -0.29832842] [-0.00491862 -0.01096793 0.99992775 -0.28987619] [ 0. 0. 0. 1. ]] SLAMing on 19.35719347 meters Centerline goodness [0,1] 0.8364327803084124 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.30, Z:-0.29 [[ 0.99992829 0.01091885 0.00491819 0.75883384] [-0.01100489 0.99978061 0.01782188 -0.3039637 ] [-0.00472251 -0.01787473 0.99982908 -0.28997782] [ 0. 0. 0. 1. ]] SLAMing on 19.38719347 meters Centerline goodness [0,1] 0.8432414341296072 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.31, Z:-0.29 [[ 0.99995379 0.00826305 0.00491387 0.75880156] [-0.00833552 0.99985403 0.01491454 -0.30500768] [-0.00478991 -0.01495481 0.9998767 -0.29006875] [ 0. 0. 0. 1. ]] SLAMing on 19.41719347 meters Centerline goodness [0,1] 0.8357333111370069 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.31, Z:-0.29 [[ 0.99997437 0.00523918 0.00487916 0.75887457] [-0.00529829 0.99991174 0.01218362 -0.30785884] [-0.0048149 -0.01220916 0.99991387 -0.29006077] [ 0. 0. 0. 1. ]] SLAMing on 19.44719347 meters Centerline goodness [0,1] 0.8604452233418873 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.31, Z:-0.29 [[ 0.99998642 0.00201046 0.00480719 0.75886802] [-0.00205715 0.99995057 0.0097274 -0.31247477] [-0.00478739 -0.00973716 0.99994113 -0.28973745] [ 0. 0. 0. 1. ]] SLAMing on 19.47719347 meters Centerline goodness [0,1] 0.8855831420822032 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.33, Z:-0.29 [[ 0.9999812 -0.00392239 0.00471268 0.75858927] [ 0.00389087 0.99997013 0.00667855 -0.32748958] [-0.00473874 -0.00666009 0.99996659 -0.28803324] [ 0. 0. 0. 1. ]] SLAMing on 19.50719347 meters Centerline goodness [0,1] 0.8958761158375592 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.34, Z:-0.29 [[ 0.99996533 -0.0068053 0.00479876 0.75800893] [ 0.00677913 0.99996218 0.00544886 -0.33567346] [-0.00483566 -0.00541614 0.99997364 -0.28708297] [ 0. 0. 0. 1. ]] SLAMing on 19.53719347 meters Centerline goodness [0,1] 0.9075485201869238 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.35, Z:-0.29 [[ 0.99991297 -0.01219016 0.00504465 0.75803539] [ 0.01217342 0.99992034 0.00333502 -0.35089466] [-0.0050849 -0.00327332 0.99998171 -0.28648787] [ 0. 0. 0. 1. ]] SLAMing on 19.56719347 meters Centerline goodness [0,1] 0.9081217739386916 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.36, Z:-0.29 [[ 0.99989403 -0.01382731 0.00455379 0.76009876] [ 0.01381486 0.99990078 0.0027542 -0.35732617] [-0.00459142 -0.00269099 0.99998584 -0.28771733] [ 0. 0. 0. 1. ]] SLAMing on 19.59719347 meters Centerline goodness [0,1] 0.909695221372131 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.36, Z:-0.29 [[ 0.99989864 -0.01372633 0.00378014 0.76340194] [ 0.01371158 0.99989838 0.00390074 -0.36389566] [-0.0038333 -0.00384851 0.99998525 -0.28984899] [ 0. 0. 0. 1. ]] SLAMing on 19.62719347 meters Centerline goodness [0,1] 0.9094632148603189 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.38, Z:-0.29 [[ 9.99960026e-01 -8.94108593e-03 -6.58508339e-05 7.70961469e-01] [ 8.94131912e-03 9.99942487e-01 5.92241579e-03 -3.78043991e-01] [ 1.28942181e-05 -5.92276783e-03 9.99982460e-01 -2.89238939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65719347 meters Centerline goodness [0,1] 0.8867881548974943 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.38, Z:-0.29 [[ 9.99971138e-01 -7.59735833e-03 -5.22701983e-05 7.71078941e-01] [ 7.59753441e-03 9.99940164e-01 7.87055029e-03 -3.82593992e-01] [-7.52832015e-06 -7.87072025e-03 9.99969025e-01 -2.89266594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68719347 meters Centerline goodness [0,1] 0.8971791782643015 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.39, Z:-0.29 [[ 9.99981537e-01 -6.07405517e-03 1.79314058e-04 7.70065960e-01] [ 6.07198738e-03 9.99932763e-01 9.87927617e-03 -3.86891353e-01] [-2.39309270e-04 -9.87800497e-03 9.99951183e-01 -2.88425246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71719347 meters Centerline goodness [0,1] 0.8527467469980335 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.40, Z:-0.29 [[ 0.99999251 -0.00161791 0.00351681 0.76017395] [ 0.00157735 0.99993257 0.01150499 -0.39956264] [-0.00353518 -0.01149936 0.99992763 -0.28690052] [ 0. 0. 0. 1. ]] SLAMing on 19.74719347 meters Centerline goodness [0,1] 0.8275977210593317 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.41, Z:-0.29 [[ 0.99999342 -0.0021408 0.00292945 0.76128718] [ 0.00210765 0.99993424 0.01127268 -0.4063405 ] [-0.00295339 -0.01126643 0.99993217 -0.28696217] [ 0. 0. 0. 1. ]] SLAMing on 19.77719347 meters Centerline goodness [0,1] 0.831620536746317 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.41, Z:-0.29 [[ 0.99998562 -0.00413809 0.0034122 0.76012924] [ 0.00410341 0.99994048 0.01010961 -0.41309478] [-0.00345383 -0.01009546 0.99994307 -0.28645525] [ 0. 0. 0. 1. ]] SLAMing on 19.80719347 meters Centerline goodness [0,1] 0.8331622069023322 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.42, Z:-0.29 [[ 0.99997447 -0.00634537 0.0032855 0.76134233] [ 0.00631531 0.99993882 0.00908119 -0.41995345] [-0.00334292 -0.00906021 0.99995337 -0.28734792] [ 0. 0. 0. 1. ]] SLAMing on 19.83719347 meters Centerline goodness [0,1] 0.8754968827147579 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.44, Z:-0.29 [[ 0.9999453 -0.0098905 0.00340107 0.76249939] [ 0.00985734 0.99990503 0.00963132 -0.43576998] [-0.00349601 -0.00959727 0.99994783 -0.28757042] [ 0. 0. 0. 1. ]] SLAMing on 19.86719347 meters Centerline goodness [0,1] 0.8754697286012526 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.44, Z:-0.29 [[ 0.99991886 -0.01234369 0.00314608 0.76375495] [ 0.01231537 0.99988484 0.00886817 -0.44466252] [-0.00325518 -0.0088287 0.99995573 -0.28793476] [ 0. 0. 0. 1. ]] SLAMing on 19.89719347 meters Centerline goodness [0,1] 0.8898777812597931 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.45, Z:-0.29 [[ 0.99988833 -0.01461164 0.00313433 0.76433151] [ 0.01458483 0.99985823 0.00841492 -0.45499953] [-0.00325685 -0.00836826 0.99995968 -0.28793709] [ 0. 0. 0. 1. ]] SLAMing on 19.92719347 meters Centerline goodness [0,1] 0.9035357016059979 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.47, Z:-0.29 [[ 0.99981518 -0.019016 0.00282945 0.76671544] [ 0.01899783 0.99979956 0.00631856 -0.47363452] [-0.00294903 -0.00626363 0.99997603 -0.28914969] [ 0. 0. 0. 1. ]] SLAMing on 19.95719347 meters Centerline goodness [0,1] 0.9036300327349305 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.48, Z:-0.29 [[ 0.99981644 -0.01905281 0.00201934 0.76992059] [ 0.01903673 0.9997891 0.0077041 -0.48208171] [-0.0021657 -0.00766425 0.99996828 -0.29089325] [ 0. 0. 0. 1. ]] SLAMing on 19.98719347 meters Centerline goodness [0,1] 0.9036300327349305 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.48, Z:-0.29 [[ 0.99981644 -0.01905281 0.00201934 0.76992059] [ 0.01903673 0.9997891 0.0077041 -0.48208171] [-0.0021657 -0.00766425 0.99996828 -0.29089325] [ 0. 0. 0. 1. ]] SLAMing on 20.01719347 meters Centerline goodness [0,1] 0.9004377502541441 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.49, Z:-0.29 [[ 0.99981147 -0.01937854 0.00122315 0.77375622] [ 0.01936739 0.99977592 0.00854476 -0.48905648] [-0.00138846 -0.00851946 0.99996274 -0.29346184] [ 0. 0. 0. 1. ]] SLAMing on 20.04719347 meters Centerline goodness [0,1] 0.8964662249447848 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.50, Z:-0.29 [[ 9.99816870e-01 -1.91174770e-02 8.64883138e-04 7.75515323e-01] [ 1.91078429e-02 9.99767057e-01 1.00360538e-02 -4.96107403e-01] [-1.05654570e-03 -1.00176899e-02 9.99949264e-01 -2.94448436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07719347 meters Centerline goodness [0,1] 0.8900644838164402 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.51, Z:-0.29 [[ 0.99980836 -0.0195289 0.00136447 0.77461977] [ 0.01951271 0.999749 0.01100842 -0.50979212] [-0.00157911 -0.01097969 0.99993847 -0.29411933] [ 0. 0. 0. 1. ]] SLAMing on 20.10719347 meters Centerline goodness [0,1] 0.8803762880146844 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.52, Z:-0.29 [[ 0.99975041 -0.02229894 0.00136774 0.77464407] [ 0.02228563 0.99971045 0.00907588 -0.51550695] [-0.00156973 -0.00904314 0.99995788 -0.29373278] [ 0. 0. 0. 1. ]] SLAMing on 20.13719347 meters Centerline goodness [0,1] 0.8952597633012587 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.52, Z:-0.29 [[ 0.9996858 -0.02502862 0.00136993 0.77461181] [ 0.025018 0.99966045 0.00728533 -0.52142834] [-0.00155181 -0.00724877 0.99997252 -0.29318436] [ 0. 0. 0. 1. ]] SLAMing on 20.16719347 meters Centerline goodness [0,1] 0.9014424076152471 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.54, Z:-0.29 [[ 0.99968124 -0.02477032 -0.00488319 0.78518348] [ 0.02479329 0.99968155 0.0047011 -0.53606419] [ 0.00476519 -0.00482067 0.99997703 -0.29005581] [ 0. 0. 0. 1. ]] SLAMing on 20.19719347 meters Centerline goodness [0,1] 0.8921173101444428 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.54, Z:-0.29 [[ 0.9995915 -0.02813516 -0.00502401 0.78631245] [ 0.02814771 0.99960078 0.00244558 -0.54196619] [ 0.0049532 -0.002586 0.99998439 -0.29060097] [ 0. 0. 0. 1. ]] SLAMing on 20.22719347 meters Centerline goodness [0,1] 0.9184449785766537 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.55, Z:-0.29 [[ 0.99951232 -0.03079136 -0.00519758 0.7882089 ] [ 0.03079738 0.99952506 0.00108144 -0.54829353] [ 0.00516181 -0.00124098 0.99998591 -0.291801 ] [ 0. 0. 0. 1. ]] SLAMing on 20.25719347 meters Centerline goodness [0,1] 0.9131793565511483 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.56, Z:-0.29 [[ 0.99925488 -0.03817333 -0.00569899 0.79101521] [ 0.03815903 0.9992683 -0.002598 -0.56162428] [ 0.00579399 0.0023786 0.99998039 -0.29140223] [ 0. 0. 0. 1. ]] SLAMing on 20.28719347 meters Centerline goodness [0,1] 0.9129608842068906 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.57, Z:-0.29 [[ 0.99909086 -0.0422229 -0.00588944 0.79249104] [ 0.04219378 0.99909702 -0.00498339 -0.56849855] [ 0.00609454 0.00473036 0.99997024 -0.29170392] [ 0. 0. 0. 1. ]] SLAMing on 20.31719347 meters Centerline goodness [0,1] 0.9127098321342926 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.57, Z:-0.29 [[ 0.99890021 -0.04646904 -0.00624558 0.79457518] [ 0.0464214 0.99889327 -0.00756919 -0.57483413] [ 0.0065904 0.00727094 0.99995185 -0.29232639] [ 0. 0. 0. 1. ]] SLAMing on 20.34719347 meters Centerline goodness [0,1] 0.9122383075942971 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.58, Z:-0.29 [[ 0.99868379 -0.05085962 -0.00663195 0.79741896] [ 0.05078629 0.99865123 -0.01079243 -0.5796913 ] [ 0.0071719 0.01044141 0.99991977 -0.29408466] [ 0. 0. 0. 1. ]] SLAMing on 20.37719347 meters Centerline goodness [0,1] 0.9122395658873182 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.59, Z:-0.29 [[ 0.99846125 -0.05497028 -0.00730741 0.7996293 ] [ 0.05487958 0.99841988 -0.01208173 -0.58996175] [ 0.00796 0.01166211 0.99990031 -0.29306682] [ 0. 0. 0. 1. ]] SLAMing on 20.40719347 meters Centerline goodness [0,1] 0.9128062938166408 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.59, Z:-0.29 [[ 0.9985019 -0.05418977 -0.00757744 0.79904796] [ 0.05411048 0.99848178 -0.01030502 -0.59464007] [ 0.00812436 0.00987957 0.99991819 -0.29115934] [ 0. 0. 0. 1. ]] SLAMing on 20.43719347 meters Centerline goodness [0,1] 0.9130876804554594 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.60, Z:-0.29 [[ 0.99871332 -0.05003104 -0.00828238 0.79991162] [ 0.04999095 0.99873726 -0.00497887 -0.59936783] [ 0.00852102 0.00455842 0.99995331 -0.29019213] [ 0. 0. 0. 1. ]] SLAMing on 20.46719347 meters Centerline goodness [0,1] 0.9108568327265326 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.60, Z:-0.29 [[ 9.98895829e-01 -4.61236516e-02 -8.92927686e-03 8.00828919e-01] [ 4.61214875e-02 9.98935737e-01 -4.48235638e-04 -6.01053375e-01] [ 8.94044802e-03 3.59091789e-05 9.99960033e-01 -2.89828513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49719347 meters Centerline goodness [0,1] 0.9112514092446449 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.60, Z:-0.29 [[ 0.99905073 -0.04247403 -0.00967427 0.80186012] [ 0.04251075 0.99908944 0.00362227 -0.60219133] [ 0.00951161 -0.00403009 0.99994664 -0.28932306] [ 0. 0. 0. 1. ]] SLAMing on 20.52719347 meters Centerline goodness [0,1] 0.9130229631959735 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.60, Z:-0.29 [[ 0.9991096 -0.04105842 -0.00970596 0.80021437] [ 0.04110006 0.9991465 0.00413 -0.60061871] [ 0.0095281 -0.00452524 0.99994437 -0.28767442] [ 0. 0. 0. 1. ]] SLAMing on 20.55719347 meters Centerline goodness [0,1] 0.9185963183589376 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.60, Z:-0.29 [[ 0.99922188 -0.03798564 -0.01061736 0.80220987] [ 0.03806572 0.9992475 0.00744483 -0.60045947] [ 0.01032658 -0.00784319 0.99991592 -0.28802747] [ 0. 0. 0. 1. ]] SLAMing on 20.58719347 meters Centerline goodness [0,1] 0.9192457882405445 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.60, Z:-0.29 [[ 0.99931013 -0.03533451 -0.01143419 0.80473959] [ 0.03545229 0.99931863 0.01026726 -0.59925651] [ 0.01106362 -0.01066555 0.99988191 -0.28932043] [ 0. 0. 0. 1. ]] SLAMing on 20.61719347 meters Centerline goodness [0,1] 0.923641050713365 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.60, Z:-0.29 [[ 0.9993766 -0.03309578 -0.01229172 0.80797212] [ 0.03325138 0.99936661 0.01267765 -0.59731518] [ 0.01186436 -0.01307847 0.99984408 -0.29130437] [ 0. 0. 0. 1. ]] SLAMing on 20.64719347 meters Centerline goodness [0,1] 0.9272372517209628 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.59, Z:-0.29 [[ 0.99929348 -0.03514034 -0.01333001 0.8112227 ] [ 0.03528375 0.99932027 0.01068001 -0.59225175] [ 0.01294565 -0.0111428 0.99985411 -0.29255775] [ 0. 0. 0. 1. ]] SLAMing on 20.67719347 meters Centerline goodness [0,1] 0.9310269034640408 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.59, Z:-0.29 [[ 0.99922428 -0.0371419 -0.01308857 0.80992369] [ 0.03726114 0.99926515 0.00898727 -0.5907965 ] [ 0.01274514 -0.009468 0.99987395 -0.2911048 ] [ 0. 0. 0. 1. ]] SLAMing on 20.70719347 meters Centerline goodness [0,1] 0.935450058959689 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.59, Z:-0.29 [[ 0.9991659 -0.03848872 -0.01364278 0.81134795] [ 0.03860032 0.9992226 0.00801275 -0.58944303] [ 0.01332378 -0.00853268 0.99987483 -0.29111719] [ 0. 0. 0. 1. ]] SLAMing on 20.73719347 meters Centerline goodness [0,1] 0.9382531101413405 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.58, Z:-0.29 [[ 0.9990249 -0.04161561 -0.01474383 0.8158493 ] [ 0.04169841 0.9991159 0.00535364 -0.58390653] [ 0.014508 -0.00596321 0.99987697 -0.29343959] [ 0. 0. 0. 1. ]] SLAMing on 20.76719347 meters Centerline goodness [0,1] 0.9355644782367263 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.58, Z:-0.30 [[ 0.99903114 -0.04101623 -0.01595119 0.8212858 ] [ 0.04112414 0.99913292 0.00649649 -0.58154393] [ 0.0156709 -0.00714618 0.99985167 -0.29687608] [ 0. 0. 0. 1. ]] SLAMing on 20.79719347 meters Centerline goodness [0,1] 0.9355067328136074 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.58, Z:-0.30 [[ 0.99899484 -0.04178664 -0.01622331 0.82244365] [ 0.04187513 0.99910956 0.00515385 -0.5777838 ] [ 0.0159935 -0.00582802 0.99985511 -0.29783178] [ 0. 0. 0. 1. ]] SLAMing on 20.82719347 meters Centerline goodness [0,1] 0.9331276155049245 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.57, Z:-0.30 [[ 0.99919703 -0.03626619 -0.01703088 0.83206488] [ 0.03622616 0.9993401 -0.00265296 -0.57386854] [ 0.01711586 0.00203386 0.99985144 -0.29823577] [ 0. 0. 0. 1. ]] SLAMing on 20.85719347 meters Centerline goodness [0,1] 0.9319618919146784 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.57, Z:-0.30 [[ 9.99335354e-01 -3.21187088e-02 -1.72406404e-02 8.31202224e-01] [ 3.21370621e-02 9.99483160e-01 7.88469822e-04 -5.70164626e-01] [ 1.72064051e-02 -1.34200930e-03 9.99851058e-01 -2.96967035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88719347 meters Centerline goodness [0,1] 0.9336202753807902 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.55, Z:-0.30 [[ 0.99966887 -0.02235279 -0.01274801 0.8424734 ] [ 0.02232068 0.99974734 -0.00265568 -0.55435215] [ 0.01280416 0.00237025 0.99991521 -0.30094298] [ 0. 0. 0. 1. ]] SLAMing on 20.91719347 meters Centerline goodness [0,1] 0.9366855997327097 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.55, Z:-0.30 [[ 0.99985421 -0.01545487 -0.00725975 0.85317946] [ 0.01540351 0.99985631 -0.0070776 -0.54515594] [ 0.00736809 0.00696474 0.9999486 -0.30393323] [ 0. 0. 0. 1. ]] SLAMing on 20.94719347 meters Centerline goodness [0,1] 0.9380284053957665 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.54, Z:-0.30 [[ 0.99993636 -0.00890034 -0.00693225 0.8501664 ] [ 0.00888919 0.99995915 -0.00163725 -0.53849231] [ 0.00694654 0.00157553 0.99997463 -0.30101502] [ 0. 0. 0. 1. ]] SLAMing on 20.97719347 meters Centerline goodness [0,1] 0.9421229938691386 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.52, Z:-0.30 [[ 9.99998288e-01 1.82352287e-03 3.15281751e-04 8.51475377e-01] [-1.82114246e-03 9.99971018e-01 -7.39234497e-03 -5.22399946e-01] [-3.28752724e-04 7.39175814e-03 9.99972627e-01 -3.02685536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00719347 meters Centerline goodness [0,1] 0.9413477450302687 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.52, Z:-0.30 [[ 9.99988262e-01 4.84381414e-03 1.17669166e-04 8.51652600e-01] [-4.84307865e-03 9.99972568e-01 -5.60430897e-03 -5.15942233e-01] [-1.44812169e-04 5.60367331e-03 9.99984289e-01 -3.02379600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.03719347 meters Centerline goodness [0,1] 0.9380501577810995 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.51, Z:-0.30 [[ 9.99971726e-01 7.51654503e-03 -2.21687983e-04 8.53079495e-01] [-7.51738233e-03 9.99963522e-01 -4.05498051e-03 -5.09518453e-01] [ 1.91200453e-04 4.05653237e-03 9.99991754e-01 -3.03298058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06719347 meters Centerline goodness [0,1] 0.9388195375335121 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.50, Z:-0.31 [[ 9.99944905e-01 1.04965223e-02 -9.91095555e-05 8.54377747e-01] [-1.04967559e-02 9.99941101e-01 -2.75907148e-03 -4.97185308e-01] [ 7.01430626e-05 2.75995980e-03 9.99996189e-01 -3.05103271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09719347 meters Centerline goodness [0,1] 0.9366603892027621 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.49, Z:-0.31 [[ 9.99957631e-01 9.18605090e-03 -5.93328023e-04 8.56667406e-01] [-9.18893662e-03 9.99944982e-01 -5.05924131e-03 -4.91439558e-01] [ 5.46820931e-04 5.06447901e-03 9.99987026e-01 -3.07006448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127193469999998 meters Centerline goodness [0,1] 0.9362696798809249 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.49, Z:-0.31 [[ 9.99962700e-01 8.61739556e-03 -5.83167621e-04 8.57102116e-01] [-8.62091180e-03 9.99942851e-01 -6.32262048e-03 -4.86846759e-01] [ 5.28649771e-04 6.32741208e-03 9.99979842e-01 -3.07626794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15719347 meters Centerline goodness [0,1] 0.9353628897083472 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.48, Z:-0.31 [[ 9.99952637e-01 9.71331503e-03 -6.11775915e-04 8.57343737e-01] [-9.71689016e-03 9.99933936e-01 -6.14051720e-03 -4.78938549e-01] [ 5.52090720e-04 6.14617093e-03 9.99980960e-01 -3.07605169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18719347 meters Centerline goodness [0,1] 0.9335184102863823 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.47, Z:-0.31 [[ 9.99955094e-01 9.43751829e-03 -8.61967494e-04 8.57686495e-01] [-9.44360251e-03 9.99928391e-01 -7.35057987e-03 -4.74563578e-01] [ 7.92534537e-04 7.35838986e-03 9.99972613e-01 -3.07512860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21719347 meters Centerline goodness [0,1] 0.9304846404955219 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.47, Z:-0.31 [[ 9.99916821e-01 1.28644353e-02 -9.25439536e-04 8.56251133e-01] [-1.28692623e-02 9.99902530e-01 -5.41406708e-03 -4.68538786e-01] [ 8.55700418e-04 5.42552647e-03 9.99984916e-01 -3.05530157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24719347 meters Centerline goodness [0,1] 0.9249121779859485 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.47, Z:-0.31 [[ 9.99915752e-01 1.29443549e-02 -9.65536258e-04 8.56044694e-01] [-1.29501972e-02 9.99896219e-01 -6.31224151e-03 -4.65343624e-01] [ 8.83728160e-04 6.32421360e-03 9.99979611e-01 -3.05239410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27719347 meters Centerline goodness [0,1] 0.9249274938969683 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.46, Z:-0.30 [[ 9.99916146e-01 1.29086674e-02 -1.03291843e-03 8.55906088e-01] [-1.29156195e-02 9.99891852e-01 -7.03357880e-03 -4.62384901e-01] [ 9.42012592e-04 7.04632979e-03 9.99974731e-01 -3.04888457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30719347 meters Centerline goodness [0,1] 0.9322929723406033 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.46, Z:-0.30 [[ 9.99922881e-01 1.23896777e-02 -8.52885378e-04 8.54607978e-01] [-1.23959484e-02 9.99892836e-01 -7.78821306e-03 -4.58144465e-01] [ 7.56300530e-04 7.79818476e-03 9.99969308e-01 -3.03504788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33719347 meters Centerline goodness [0,1] 0.933973514090253 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.46, Z:-0.30 [[ 9.99936768e-01 1.12030635e-02 -9.75080161e-04 8.55539624e-01] [-1.12109226e-02 9.99901309e-01 -8.46686300e-03 -4.57765884e-01] [ 8.80129125e-04 8.47725917e-03 9.99963680e-01 -3.04196886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36719347 meters Centerline goodness [0,1] 0.9335130841902851 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.46, Z:-0.31 [[ 0.99999761 0.00141726 0.00166415 0.85606422] [-0.00141442 0.99999754 -0.00170597 -0.45786479] [-0.00166657 0.00170361 0.99999716 -0.30547138] [ 0. 0. 0. 1. ]] SLAMing on 21.39719347 meters Centerline goodness [0,1] 0.9317206888614534 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.46, Z:-0.31 [[ 0.99999183 -0.00387019 0.00117025 0.85840335] [ 0.00387766 0.99997164 -0.00645568 -0.45866561] [-0.00114524 0.00646017 0.99997848 -0.30719084] [ 0. 0. 0. 1. ]] SLAMing on 21.42719347 meters Centerline goodness [0,1] 0.9249052415555044 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.46, Z:-0.31 [[ 9.99882702e-01 -1.53053463e-02 5.72540904e-04 8.62880083e-01] [ 1.53128236e-02 9.99740682e-01 -1.68548379e-02 -4.59169561e-01] [-3.14423303e-04 1.68616281e-02 9.99857783e-01 -3.10967940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45719347 meters Centerline goodness [0,1] 0.9242246191295589 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.46, Z:-0.31 [[ 9.99851718e-01 -1.72203477e-02 2.70668310e-05 8.65522430e-01] [ 1.72180516e-02 9.99690148e-01 -1.79762666e-02 -4.59724090e-01] [ 2.82499116e-04 1.79740671e-02 9.99838413e-01 -3.12721418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48719347 meters Centerline goodness [0,1] 0.9229705666701582 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.46, Z:-0.31 [[ 9.99838804e-01 -1.79509831e-02 -3.59132080e-04 8.67031378e-01] [ 1.79412934e-02 9.99668520e-01 -1.84651115e-02 -4.59283840e-01] [ 6.90479941e-04 1.84556917e-02 9.99829441e-01 -3.13654532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51719347 meters Centerline goodness [0,1] 0.9172292339301438 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.46, Z:-0.31 [[ 9.99891665e-01 -1.47043399e-02 -6.64273874e-04 8.67872621e-01] [ 1.46929933e-02 9.99784035e-01 -1.46969467e-02 -4.59432120e-01] [ 8.80239314e-04 1.46855943e-02 9.99891773e-01 -3.13796027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54719347 meters Centerline goodness [0,1] 0.9225341791763499 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.45, Z:-0.31 [[ 0.99997141 -0.0074842 -0.00107983 0.86905026] [ 0.00747499 0.99993767 -0.00829388 -0.45494422] [ 0.00114183 0.00828557 0.99996502 -0.31436458] [ 0. 0. 0. 1. ]] SLAMing on 21.57719347 meters Centerline goodness [0,1] 0.9239064302947655 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.45, Z:-0.31 [[ 0.99999399 -0.00323399 -0.00124955 0.86897156] [ 0.00322772 0.99998239 -0.00498051 -0.45137593] [ 0.00126564 0.00497644 0.99998682 -0.31395802] [ 0. 0. 0. 1. ]] SLAMing on 21.60719347 meters Centerline goodness [0,1] 0.9245357979257277 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.45, Z:-0.31 [[ 9.99998575e-01 7.25060155e-04 -1.52426225e-03 8.69422163e-01] [-7.28758748e-04 9.99996788e-01 -2.42732742e-03 -4.46297139e-01] [ 1.52249739e-03 2.42843478e-03 9.99995892e-01 -3.13989165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63719347 meters Centerline goodness [0,1] 0.9287024683122082 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.44, Z:-0.31 [[ 0.99992579 0.01212884 -0.00114243 0.86707142] [-0.01212147 0.99990697 0.00625531 -0.43556053] [ 0.00121819 -0.00624099 0.99997978 -0.3116484 ] [ 0. 0. 0. 1. ]] SLAMing on 21.66719347 meters Centerline goodness [0,1] 0.9282248619708884 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.43, Z:-0.31 [[ 0.99987901 0.01549113 -0.00141061 0.86804768] [-0.01547907 0.99984664 0.0081914 -0.42863696] [ 0.00153729 -0.00816858 0.99996545 -0.31227543] [ 0. 0. 0. 1. ]] SLAMing on 21.69719347 meters Centerline goodness [0,1] 0.9220027885876012 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.42, Z:-0.31 [[ 0.99983346 0.01814158 -0.00198538 0.87054479] [-0.0181213 0.9997878 0.00979644 -0.422762 ] [ 0.00216268 -0.00975883 0.99995004 -0.31399516] [ 0. 0. 0. 1. ]] SLAMing on 21.72719347 meters Centerline goodness [0,1] 0.9204117499372333 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.42, Z:-0.32 [[ 0.99979001 0.02032605 -0.00260463 0.87348282] [-0.02029704 0.99973654 0.01071853 -0.41629389] [ 0.00282181 -0.01066341 0.99993916 -0.31634024] [ 0. 0. 0. 1. ]] SLAMing on 21.75719347 meters Centerline goodness [0,1] 0.9226497421658072 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.32 [[ 0.99986129 0.0164211 -0.00278202 0.87362238] [-0.01640484 0.99984877 0.0057714 -0.41240745] [ 0.00287637 -0.00572496 0.99997948 -0.31644996] [ 0. 0. 0. 1. ]] SLAMing on 21.78719347 meters Centerline goodness [0,1] 0.924988514388339 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.32 [[ 9.99920195e-01 1.23445657e-02 -2.68621886e-03 8.72961736e-01] [-1.23423065e-02 9.99923464e-01 8.56009912e-04 -4.08737002e-01] [ 2.69658034e-03 -8.22787462e-04 9.99996026e-01 -3.16059099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81719347 meters Centerline goodness [0,1] 0.9280551563248558 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.31 [[ 0.99996976 0.00726665 -0.00276907 0.87227688] [-0.00727774 0.99996544 -0.00401871 -0.40580096] [ 0.00273977 0.00403874 0.99998809 -0.3147543 ] [ 0. 0. 0. 1. ]] SLAMing on 21.84719347 meters Centerline goodness [0,1] 0.9281177349717702 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.32 [[ 0.99997947 0.00553563 -0.00322683 0.87389992] [-0.00555143 0.99997254 -0.00490854 -0.40648301] [ 0.00319957 0.00492636 0.99998275 -0.31535682] [ 0. 0. 0. 1. ]] SLAMing on 21.877193469999998 meters Centerline goodness [0,1] 0.9281177349717702 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.32 [[ 0.99997947 0.00553563 -0.00322683 0.87389992] [-0.00555143 0.99997254 -0.00490854 -0.40648301] [ 0.00319957 0.00492636 0.99998275 -0.31535682] [ 0. 0. 0. 1. ]] SLAMing on 21.90719347 meters Centerline goodness [0,1] 0.9265342846979556 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.32 [[ 0.99999378 0.00121991 -0.00331077 0.87395678] [-0.00124956 0.999959 -0.00896826 -0.4065159 ] [ 0.00329969 0.00897234 0.9999543 -0.31514453] [ 0. 0. 0. 1. ]] SLAMing on 21.93719347 meters Centerline goodness [0,1] 0.9274263881390423 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.31 [[ 0.99998709 -0.00366235 -0.003522 0.87453272] [ 0.00361535 0.99990556 -0.01325898 -0.40745514] [ 0.00357023 0.01324608 0.99990589 -0.31495766] [ 0. 0. 0. 1. ]] SLAMing on 21.96719347 meters Centerline goodness [0,1] 0.9267156199945915 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.31 [[ 9.99993581e-01 -1.54860332e-04 -3.57978593e-03 8.74658322e-01] [ 1.22262372e-04 9.99958545e-01 -9.10454585e-03 -4.08909874e-01] [ 3.58104746e-03 9.10404973e-03 9.99952145e-01 -3.14600178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99719347 meters Centerline goodness [0,1] 0.9267677298627026 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:-0.31 [[ 0.99998641 0.00368079 -0.00369309 0.87493342] [-0.00370032 0.99997913 -0.00529599 -0.40866898] [ 0.00367351 0.00530958 0.99997916 -0.3145531 ] [ 0. 0. 0. 1. ]] SLAMing on 22.02719347 meters Centerline goodness [0,1] 0.9287048110614549 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:-0.31 [[ 0.99996475 0.00747268 -0.00382979 0.87552348] [-0.00748033 0.99997005 -0.00198657 -0.40696078] [ 0.00381483 0.00201515 0.99999069 -0.31485571] [ 0. 0. 0. 1. ]] SLAMing on 22.05719347 meters Centerline goodness [0,1] 0.9300437226733291 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.40, Z:-0.32 [[ 0.99982045 0.01885274 0.00191021 0.88608831] [-0.01884854 0.99981995 -0.00219256 -0.39864253] [-0.0019512 0.00215617 0.99999577 -0.31797039] [ 0. 0. 0. 1. ]] SLAMing on 22.08719347 meters Centerline goodness [0,1] 0.926332584552726 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.39, Z:-0.32 [[ 0.99973132 0.02309547 0.00197068 0.88592049] [-0.02309751 0.9997327 0.00101705 -0.3947151 ] [-0.00194667 -0.00106229 0.99999754 -0.31770768] [ 0. 0. 0. 1. ]] SLAMing on 22.11719347 meters Centerline goodness [0,1] 0.9225222972409769 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.39, Z:-0.32 [[ 0.99964168 0.02671172 0.00173271 0.88691646] [-0.02671863 0.99963461 0.00409529 -0.39247696] [-0.00162269 -0.00414011 0.99999011 -0.31809423] [ 0. 0. 0. 1. ]] SLAMing on 22.14719347 meters Centerline goodness [0,1] 0.9209090527552777 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.39, Z:-0.32 [[ 0.99964776 0.02650144 0.00142782 0.88778145] [-0.02650595 0.99964341 0.0032373 -0.39082674] [-0.00134152 -0.003274 0.99999374 -0.31859377] [ 0. 0. 0. 1. ]] SLAMing on 22.17719347 meters Centerline goodness [0,1] 0.922225961134012 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.39, Z:-0.32 [[ 0.99974384 0.02259768 0.00126534 0.88834078] [-0.02259609 0.99974388 -0.00125752 -0.38855159] [-0.00129344 0.00122861 0.99999841 -0.31926439] [ 0. 0. 0. 1. ]] SLAMing on 22.20719347 meters Centerline goodness [0,1] 0.9239515807581765 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.39, Z:-0.32 [[ 9.99774879e-01 2.12098746e-02 5.76753599e-04 8.91086271e-01] [-2.12083362e-02 9.99771815e-01 -2.55419435e-03 -3.87822902e-01] [-6.30796135e-04 2.54138736e-03 9.99996572e-01 -3.21097163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23719347 meters Centerline goodness [0,1] 0.9217782070935092 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.39, Z:-0.32 [[ 9.99804263e-01 1.97847236e-02 -1.79389406e-05 8.94894730e-01] [-1.97846265e-02 9.99795577e-01 -4.16811418e-03 -3.86724350e-01] [-6.45297133e-05 4.16765324e-03 9.99991313e-01 -3.24720384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26719347 meters Centerline goodness [0,1] 0.9187765935038126 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.39, Z:-0.33 [[ 9.99804990e-01 1.97461897e-02 -2.64810425e-04 8.96445138e-01] [-1.97472088e-02 9.99794170e-01 -4.65462873e-03 -3.85220247e-01] [ 1.72844737e-04 4.65895030e-03 9.99989132e-01 -3.26222178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29719347 meters Centerline goodness [0,1] 0.9117794068643785 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.38, Z:-0.33 [[ 9.99746683e-01 2.24884206e-02 -9.17268986e-04 8.99390014e-01] [-2.24901992e-02 9.99745108e-01 -1.97713023e-03 -3.84752914e-01] [ 8.72572646e-04 1.99725895e-03 9.99997625e-01 -3.28168305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32719347 meters Centerline goodness [0,1] 0.9021240799158781 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.38, Z:-0.33 [[ 9.99729433e-01 2.32431941e-02 -9.02489428e-04 8.99146024e-01] [-2.32446758e-02 9.99728415e-01 -1.66759826e-03 -3.84065624e-01] [ 8.63484016e-04 1.68812514e-03 9.99998202e-01 -3.27886082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.35719347 meters Centerline goodness [0,1] 0.9000062994771434 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.39, Z:-0.33 [[ 9.99770652e-01 2.14039031e-02 -7.19076965e-04 8.97177097e-01] [-2.14066155e-02 9.99762835e-01 -4.00385922e-03 -3.86478154e-01] [ 6.33208210e-04 4.01833395e-03 9.99991726e-01 -3.25975109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38719347 meters Centerline goodness [0,1] 0.9081934846989141 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.39, Z:-0.33 [[ 9.99834756e-01 1.81612597e-02 -7.92971368e-04 8.96858664e-01] [-1.81665444e-02 9.99808598e-01 -7.26250037e-03 -3.87443982e-01] [ 6.60923437e-04 7.27570583e-03 9.99973313e-01 -3.25589173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41719347 meters Centerline goodness [0,1] 0.9176783004552352 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.39, Z:-0.33 [[ 9.99843807e-01 1.76516692e-02 -8.83726354e-04 8.97226595e-01] [-1.76573653e-02 9.99820173e-01 -6.91651067e-03 -3.89503542e-01] [ 7.61479478e-04 6.93103463e-03 9.99975690e-01 -3.25649070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44719347 meters Centerline goodness [0,1] 0.9213402991964079 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.39, Z:-0.33 [[ 9.99968314e-01 6.74826729e-03 4.22282958e-03 8.96437840e-01] [-6.75246268e-03 9.99976722e-01 9.80034413e-04 -3.94248782e-01] [-4.21611775e-03 -1.00851786e-03 9.99990604e-01 -3.26012335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47719347 meters Centerline goodness [0,1] 0.9207810730315868 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.40, Z:-0.33 [[ 0.99998816 0.00277051 0.00399937 0.8966398 ] [-0.00276211 0.99999397 -0.00210398 -0.39750823] [-0.00400518 0.00209291 0.99998979 -0.32555271] [ 0. 0. 0. 1. ]] SLAMing on 22.50719347 meters Centerline goodness [0,1] 0.9218191322530057 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.40, Z:-0.33 [[ 0.9999917 -0.00101358 0.00394575 0.89682795] [ 0.00103337 0.99998688 -0.00501635 -0.40127284] [-0.00394061 0.00502039 0.99997963 -0.32544282] [ 0. 0. 0. 1. ]] SLAMing on 22.53719347 meters Centerline goodness [0,1] 0.9212752114508783 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.41, Z:-0.33 [[ 0.99998084 -0.00484983 0.0038457 0.89724123] [ 0.00488023 0.9999566 -0.00793559 -0.40531537] [-0.00380705 0.0079542 0.99996112 -0.32555051] [ 0. 0. 0. 1. ]] SLAMing on 22.56719347 meters Centerline goodness [0,1] 0.921745326515215 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.41, Z:-0.33 [[ 0.99990524 -0.01328416 0.00361266 0.89923847] [ 0.01333617 0.99980189 -0.01477601 -0.41080592] [-0.00341566 0.01482279 0.9998843 -0.32716404] [ 0. 0. 0. 1. ]] SLAMing on 22.59719347 meters Centerline goodness [0,1] 0.9202041630784096 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.41, Z:-0.33 [[ 0.99985712 -0.01658977 0.00324264 0.90178676] [ 0.01664342 0.99971203 -0.01728715 -0.41338098] [-0.00295491 0.01733865 0.99984531 -0.32922395] [ 0. 0. 0. 1. ]] SLAMing on 22.627193469999998 meters Centerline goodness [0,1] 0.9178733837674721 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.42, Z:-0.33 [[ 0.99980794 -0.01939224 0.00283343 0.90487154] [ 0.0194433 0.99962526 -0.01926923 -0.41575071] [-0.00245869 0.01932062 0.99981032 -0.33183525] [ 0. 0. 0. 1. ]] SLAMing on 22.65719347 meters Centerline goodness [0,1] 0.9083282649273295 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.42, Z:-0.33 [[ 0.99960609 -0.02801114 -0.00174171 0.91771578] [ 0.02796762 0.99938071 -0.02135442 -0.41773386] [ 0.00233879 0.0212973 0.99977045 -0.33306045] [ 0. 0. 0. 1. ]] SLAMing on 22.68719347 meters Centerline goodness [0,1] 0.8983734711890051 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.42, Z:-0.33 [[ 0.9995827 -0.0288151 -0.00203055 0.91883677] [ 0.02876509 0.99935684 -0.02141203 -0.41922956] [ 0.00264623 0.02134468 0.99976867 -0.33351465] [ 0. 0. 0. 1. ]] SLAMing on 22.71719347 meters Centerline goodness [0,1] 0.8920987860331233 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.42, Z:-0.33 [[ 0.99955549 -0.02970356 -0.00255403 0.92061588] [ 0.02964009 0.99931698 -0.0220691 -0.41909642] [ 0.00320782 0.02198359 0.99975319 -0.33432471] [ 0. 0. 0. 1. ]] SLAMing on 22.74719347 meters Centerline goodness [0,1] 0.8999413145539906 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.42, Z:-0.33 [[ 0.99963427 -0.02691298 -0.00264999 0.92073289] [ 0.02685569 0.99944536 -0.01969118 -0.41527546] [ 0.00317847 0.01961281 0.9998026 -0.33420217] [ 0. 0. 0. 1. ]] SLAMing on 22.77719347 meters Centerline goodness [0,1] 0.9004608682842652 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.41, Z:-0.33 [[ 0.99972563 -0.0232605 -0.00276088 0.92028433] [ 0.02321248 0.99959751 -0.01630937 -0.41337178] [ 0.00313913 0.01624081 0.99986318 -0.33340394] [ 0. 0. 0. 1. ]] SLAMing on 22.80719347 meters Centerline goodness [0,1] 0.9062186139939739 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.41, Z:-0.33 [[ 0.9998033 -0.01962078 -0.00289515 0.91978125] [ 0.01958079 0.99972049 -0.01324868 -0.41001188] [ 0.00315429 0.01318938 0.99990804 -0.33235458] [ 0. 0. 0. 1. ]] SLAMing on 22.83719347 meters Centerline goodness [0,1] 0.9082084075898941 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.40, Z:-0.33 [[ 0.99995223 -0.00926394 -0.00311701 0.91971474] [ 0.00924842 0.99994495 -0.00495648 -0.39896824] [ 0.00316275 0.00492741 0.99998286 -0.33219714] [ 0. 0. 0. 1. ]] SLAMing on 22.86719347 meters Centerline goodness [0,1] 0.9084639498432602 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.39, Z:-0.33 [[ 9.99990271e-01 -2.55715988e-03 -3.59435633e-03 9.21408148e-01] [ 2.55974555e-03 9.99996468e-01 7.14952969e-04 -3.93388844e-01] [ 3.59251538e-03 -7.24146650e-04 9.99993285e-01 -3.33268987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89719347 meters Centerline goodness [0,1] 0.9093717386766854 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.39, Z:-0.33 [[ 9.99992087e-01 7.06942936e-04 -3.91481737e-03 9.22725556e-01] [-6.97887596e-04 9.99997079e-01 2.31397710e-03 -3.86437536e-01] [ 3.91644178e-03 -2.31122669e-03 9.99989660e-01 -3.34391889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92719347 meters Centerline goodness [0,1] 0.9114683949232463 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.38, Z:-0.33 [[ 0.99997718 0.00548053 -0.00394967 0.92275626] [-0.00545957 0.99997106 0.00529814 -0.37534724] [ 0.0039786 -0.00527646 0.99997816 -0.33437836] [ 0. 0. 0. 1. ]] SLAMing on 22.95719347 meters Centerline goodness [0,1] 0.9092732667474612 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.37, Z:-0.33 [[ 0.99998348 0.00404596 -0.00408294 0.92293967] [-0.00403351 0.99998721 0.00305229 -0.36935618] [ 0.00409524 -0.00303577 0.99998701 -0.33433204] [ 0. 0. 0. 1. ]] SLAMing on 22.98719347 meters Centerline goodness [0,1] 0.9092766738255593 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.36, Z:-0.33 [[ 9.99988316e-01 1.94138112e-03 -4.42713276e-03 9.23941924e-01] [-1.93874715e-03 9.99997941e-01 5.99173615e-04 -3.64451891e-01] [ 4.42828687e-03 -5.90583523e-04 9.99990021e-01 -3.34580863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.01719347 meters Centerline goodness [0,1] 0.9057130942452043 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.36, Z:-0.33 [[ 0.99997655 -0.00540134 -0.00420943 0.92280757] [ 0.00537108 0.9999599 -0.00716656 -0.3564768 ] [ 0.00424797 0.00714379 0.99996546 -0.33329118] [ 0. 0. 0. 1. ]] SLAMing on 23.04719347 meters Centerline goodness [0,1] 0.8978733978009236 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.35, Z:-0.34 [[ 0.99995481 -0.00809268 -0.00498932 0.92599751] [ 0.00804335 0.99991935 -0.0098287 -0.352065 ] [ 0.00506846 0.00978813 0.99993925 -0.33522141] [ 0. 0. 0. 1. ]] SLAMing on 23.07719347 meters Centerline goodness [0,1] 0.8797721867567906 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.35, Z:-0.34 [[ 0.99993445 -0.01002979 -0.00552323 0.92882402] [ 0.00996202 0.99987641 -0.01216249 -0.34677135] [ 0.00564454 0.01210667 0.99991078 -0.33737596] [ 0. 0. 0. 1. ]] SLAMing on 23.10719347 meters Centerline goodness [0,1] 0.8703668743313826 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.34, Z:-0.34 [[ 0.99993941 -0.00921402 -0.00602376 0.93185006] [ 0.00914625 0.99989564 -0.01118283 -0.34317159] [ 0.00612617 0.01112706 0.99991933 -0.33979493] [ 0. 0. 0. 1. ]] SLAMing on 23.13719347 meters Centerline goodness [0,1] 0.8424564696069232 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.34, Z:-0.34 [[ 0.99993438 -0.00933519 -0.00664021 0.93491229] [ 0.00925681 0.99988827 -0.01173736 -0.33562448] [ 0.00674904 0.01167512 0.99990907 -0.34185393] [ 0. 0. 0. 1. ]] SLAMing on 23.16719347 meters Centerline goodness [0,1] 0.8393957050108207 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.33, Z:-0.34 [[ 0.99995483 -0.00658288 -0.00685608 0.93562235] [ 0.00651958 0.9999363 -0.00921404 -0.33216466] [ 0.0069163 0.00916892 0.99993405 -0.34206343] [ 0. 0. 0. 1. ]] SLAMing on 23.19719347 meters Centerline goodness [0,1] 0.8401799850012499 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.33, Z:-0.34 [[ 0.9999683 -0.00369716 -0.00705176 0.93618654] [ 0.00364698 0.99996804 -0.00711508 -0.32635341] [ 0.00707784 0.00708914 0.99994982 -0.34219899] [ 0. 0. 0. 1. ]] SLAMing on 23.22719347 meters Centerline goodness [0,1] 0.8536227939791069 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.32, Z:-0.34 [[ 9.99976012e-01 7.30428428e-04 -6.88782827e-03 9.35657912e-01] [-7.55592328e-04 9.99993048e-01 -3.65149247e-03 -3.17909498e-01] [ 6.88511323e-03 3.65660927e-03 9.99969612e-01 -3.41587476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25719347 meters Centerline goodness [0,1] 0.8939917488638981 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.34 [[ 0.99989624 0.01194651 -0.00804958 0.93738925] [-0.01198826 0.99991483 -0.00515825 -0.29420783] [ 0.00798727 0.00525421 0.9999543 -0.34193218] [ 0. 0. 0. 1. ]] SLAMing on 23.28719347 meters Centerline goodness [0,1] 0.9004569258695153 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.34 [[ 9.99792829e-01 1.85280947e-02 -8.42663006e-03 9.38454135e-01] [-1.85353537e-02 9.99827898e-01 -7.84153718e-04 -2.85003838e-01] [ 8.41065094e-03 9.40181833e-04 9.99964188e-01 -3.41820820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31719347 meters Centerline goodness [0,1] 0.8999937326341738 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:-0.34 [[ 0.99958427 0.02802592 -0.00676971 0.93603279] [-0.02806925 0.99958554 -0.00639271 -0.26394327] [ 0.00658775 0.00658008 0.99995665 -0.34136857] [ 0. 0. 0. 1. ]] SLAMing on 23.34719347 meters Centerline goodness [0,1] 0.9030550324335636 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:-0.34 [[ 0.99948665 0.03126909 -0.00697749 0.93698641] [-0.03130645 0.99949572 -0.0053119 -0.25536983] [ 0.00680788 0.00552761 0.99996155 -0.34154621] [ 0. 0. 0. 1. ]] SLAMing on 23.377193469999998 meters Centerline goodness [0,1] 0.9024823065199691 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:-0.34 [[ 9.99285841e-01 3.70826849e-02 -7.25828483e-03 9.39067432e-01] [-3.70897949e-02 9.99311578e-01 -8.47381931e-04 -2.46865583e-01] [ 7.22186486e-03 1.11598506e-03 9.99973299e-01 -3.42679831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40719347 meters Centerline goodness [0,1] 0.9028589447130544 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.23, Z:-0.35 [[ 0.99885961 0.04692629 -0.00879774 0.94563161] [-0.04686006 0.99887264 0.00758858 -0.22862039] [ 0.00914392 -0.00716767 0.9999325 -0.34522003] [ 0. 0. 0. 1. ]] SLAMing on 23.43719347 meters Centerline goodness [0,1] 0.9045068418629953 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.35 [[ 0.99873453 0.04942917 -0.0092789 0.94769392] [-0.04934897 0.99874386 0.00868232 -0.22111949] [ 0.00969641 -0.00821343 0.99991926 -0.34600643] [ 0. 0. 0. 1. ]] SLAMing on 23.46719347 meters Centerline goodness [0,1] 0.903513547468487 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.35 [[ 0.99876213 0.04880224 -0.00962059 0.94816645] [-0.04874158 0.99879065 0.00644186 -0.21406958] [ 0.00992334 -0.00596497 0.99993297 -0.34552882] [ 0. 0. 0. 1. ]] SLAMing on 23.49719347 meters Centerline goodness [0,1] 0.9013513229514742 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.34 [[ 0.99880996 0.04785538 -0.00940931 0.94567504] [-0.04782446 0.99884968 0.00348341 -0.20423536] [ 0.00956519 -0.00302927 0.99994966 -0.34228985] [ 0. 0. 0. 1. ]] SLAMing on 23.52719347 meters Centerline goodness [0,1] 0.9030472649804716 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.34 [[ 0.99886231 0.04670493 -0.00962939 0.94598781] [-0.04669037 0.99890791 0.0017315 -0.2003899 ] [ 0.00969974 -0.00127993 0.99995214 -0.34201609] [ 0. 0. 0. 1. ]] SLAMing on 23.55719347 meters Centerline goodness [0,1] 0.9006352655995319 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.20, Z:-0.34 [[ 0.99903532 0.04278419 -0.0098966 0.94594672] [-0.04281365 0.9990792 -0.00278389 -0.19501863] [ 0.00976838 0.00320492 0.99994715 -0.34145249] [ 0. 0. 0. 1. ]] SLAMing on 23.58719347 meters Centerline goodness [0,1] 0.8990676766835928 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.34 [[ 0.99920781 0.03832994 -0.01070349 0.94731486] [-0.03840872 0.99923578 -0.00725433 -0.187393 ] [ 0.01041725 0.00765969 0.9999164 -0.34116458] [ 0. 0. 0. 1. ]] SLAMing on 23.61719347 meters Centerline goodness [0,1] 0.8992162421311544 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:-0.34 [[ 0.99926903 0.03659745 -0.01104679 0.94769721] [-0.03669406 0.99928891 -0.00867276 -0.18589685] [ 0.01072154 0.00907177 0.99990137 -0.34078493] [ 0. 0. 0. 1. ]] SLAMing on 23.64719347 meters Centerline goodness [0,1] 0.8995410930329578 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.34 [[ 0.99936082 0.03378197 -0.01169342 0.95004654] [-0.03391361 0.99936146 -0.01124901 -0.18485866] [ 0.01130594 0.01163838 0.99986835 -0.34217928] [ 0. 0. 0. 1. ]] SLAMing on 23.67719347 meters Centerline goodness [0,1] 0.9029405630865485 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:-0.34 [[ 0.99943794 0.03115601 -0.01237394 0.95278949] [-0.03132402 0.99941642 -0.01362462 -0.1837714 ] [ 0.01194223 0.01400457 0.99983061 -0.34397025] [ 0. 0. 0. 1. ]] SLAMing on 23.70719347 meters Centerline goodness [0,1] 0.9017918604893719 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.18, Z:-0.35 [[ 0.99948169 0.02942645 -0.01305518 0.95557068] [-0.02962486 0.99944439 -0.01527365 -0.18175893] [ 0.01259848 0.01565249 0.99979812 -0.34580566] [ 0. 0. 0. 1. ]] SLAMing on 23.73719347 meters Centerline goodness [0,1] 0.9023957223719113 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.18, Z:-0.35 [[ 0.99944512 0.03061799 -0.01311441 0.95770243] [-0.03080752 0.99942012 -0.01450263 -0.17564341] [ 0.01266277 0.0148986 0.99980882 -0.3477937 ] [ 0. 0. 0. 1. ]] SLAMing on 23.76719347 meters Centerline goodness [0,1] 0.9031205555090772 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.17, Z:-0.35 [[ 0.99935778 0.03319333 -0.01349944 0.95931615] [-0.0333604 0.99936714 -0.01234487 -0.17202917] [ 0.01308113 0.01278729 0.99983267 -0.34846478] [ 0. 0. 0. 1. ]] SLAMing on 23.79719347 meters Centerline goodness [0,1] 0.9031205555090772 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.17, Z:-0.35 [[ 0.99935778 0.03319333 -0.01349944 0.95931615] [-0.0333604 0.99936714 -0.01234487 -0.17202917] [ 0.01308113 0.01278729 0.99983267 -0.34846478] [ 0. 0. 0. 1. ]] SLAMing on 23.82719347 meters Centerline goodness [0,1] 0.9038995759968252 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.16, Z:-0.35 [[ 0.99924368 0.0362778 -0.01399931 0.96190267] [-0.03643367 0.99927504 -0.01104448 -0.16353095] [ 0.01358849 0.01154618 0.99984101 -0.34971506] [ 0. 0. 0. 1. ]] SLAMing on 23.85719347 meters Centerline goodness [0,1] 0.9026454363089268 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.16, Z:-0.35 [[ 0.99922431 0.03678873 -0.01404846 0.96284377] [-0.03695245 0.99924996 -0.01157768 -0.15889511] [ 0.01361199 0.01208782 0.99983429 -0.35033407] [ 0. 0. 0. 1. ]] SLAMing on 23.88719347 meters Centerline goodness [0,1] 0.9024859797438688 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.15, Z:-0.35 [[ 0.9992225 0.03675805 -0.01425622 0.96339805] [-0.03693814 0.99923834 -0.01258212 -0.15418293] [ 0.01378287 0.01309893 0.99981921 -0.35021763] [ 0. 0. 0. 1. ]] SLAMing on 23.91719347 meters Centerline goodness [0,1] 0.9026266970233578 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.15, Z:-0.35 [[ 0.99924037 0.03622744 -0.01436137 0.96339732] [-0.03642547 0.99924142 -0.01377597 -0.15020004] [ 0.0138514 0.01428863 0.99980197 -0.34975105] [ 0. 0. 0. 1. ]] SLAMing on 23.94719347 meters Centerline goodness [0,1] 0.9030791788856305 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.35 [[ 0.99954427 0.02527549 -0.01650466 0.98044642] [-0.0254196 0.99964004 -0.00858125 -0.14543154] [ 0.01628182 0.00899688 0.99982696 -0.34767506] [ 0. 0. 0. 1. ]] SLAMing on 23.97719347 meters Centerline goodness [0,1] 0.889010089991819 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.14, Z:-0.35 [[ 0.99965488 0.02001021 -0.01702115 0.98176435] [-0.02024545 0.99970031 -0.01376252 -0.14315062] [ 0.01674066 0.01410237 0.99976041 -0.34828865] [ 0. 0. 0. 1. ]] SLAMing on 24.00719347 meters Centerline goodness [0,1] 0.8555458040789033 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.35 [[ 0.99981592 0.01330711 -0.01382193 0.9903749 ] [-0.01343183 0.99986955 -0.00897038 -0.14220735] [ 0.01370076 0.00915438 0.99986423 -0.34877731] [ 0. 0. 0. 1. ]] SLAMing on 24.03719347 meters Centerline goodness [0,1] 0.8149725475459803 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.35 [[ 0.99995643 0.00467628 -0.00807945 0.99241372] [-0.00469647 0.99998589 -0.00248189 -0.13981691] [ 0.00806773 0.00251972 0.99996428 -0.35049998] [ 0. 0. 0. 1. ]] SLAMing on 24.06719347 meters Centerline goodness [0,1] 0.7414523228403946 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:-0.35 [[ 0.9999652 -0.0015286 -0.00820138 0.99315109] [ 0.00145639 0.99996019 -0.00880351 -0.13538875] [ 0.00821451 0.00879126 0.99992762 -0.35105256] [ 0. 0. 0. 1. ]] SLAMing on 24.09719347 meters Centerline goodness [0,1] 0.7717026378896883 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.35 [[ 0.99996607 0.00102622 -0.00817344 0.99342546] [-0.00107482 0.99998176 -0.00594366 -0.13484494] [ 0.00816719 0.00595224 0.99994893 -0.35140542] [ 0. 0. 0. 1. ]] SLAMing on 24.127193469999998 meters Centerline goodness [0,1] 0.8050543033002122 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.13, Z:-0.35 [[ 0.99996511 0.00312769 -0.00774627 0.99119308] [-0.00316266 0.99998485 -0.00450623 -0.13064853] [ 0.00773205 0.00453057 0.99995984 -0.34942692] [ 0. 0. 0. 1. ]] SLAMing on 24.15719347 meters Centerline goodness [0,1] 0.8114844481431395 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.11, Z:-0.35 [[ 0.99995895 0.00889447 -0.00172927 1.00240765] [-0.00890438 0.99994348 -0.00580954 -0.11493583] [ 0.0016775 0.0058247 0.99998163 -0.34991209] [ 0. 0. 0. 1. ]] SLAMing on 24.18719347 meters Centerline goodness [0,1] 0.8562325766626842 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.11, Z:-0.35 [[ 9.99879852e-01 1.53583902e-02 -2.09816290e-03 1.00441798e+00] [-1.53597278e-02 9.99881838e-01 -6.22872187e-04 -1.08560733e-01] [ 2.08834867e-03 6.55024561e-04 9.99997605e-01 -3.51174369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21719347 meters Centerline goodness [0,1] 0.8856259334833919 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.10, Z:-0.35 [[ 0.99976212 0.02163809 -0.00273839 1.00803138] [-0.02162627 0.99975698 0.00427601 -0.10312628] [ 0.00283025 -0.00421577 0.99998711 -0.35390848] [ 0. 0. 0. 1. ]] SLAMing on 24.24719347 meters Centerline goodness [0,1] 0.9055810157574236 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.09, Z:-0.35 [[ 9.99310448e-01 3.55212895e-02 -1.08104659e-02 1.02500955e+00] [-3.55106094e-02 9.99368605e-01 1.17834943e-03 -8.87671817e-02] [ 1.08454967e-02 -7.93650661e-04 9.99940871e-01 -3.54233752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27719347 meters Centerline goodness [0,1] 0.9085350584307179 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.08, Z:-0.35 [[ 0.99902252 0.04286993 -0.01077843 1.02543171] [-0.04279636 0.99905953 0.00696655 -0.08241828] [ 0.01106695 -0.00649847 0.99991764 -0.35379213] [ 0. 0. 0. 1. ]] SLAMing on 24.30719347 meters Centerline goodness [0,1] 0.9129123468426014 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.07, Z:-0.35 [[ 0.99851104 0.05390888 -0.00833845 1.0213938 ] [-0.05381879 0.99849364 0.01067672 -0.06680218] [ 0.00890145 -0.01021205 0.99990823 -0.34665844] [ 0. 0. 0. 1. ]] SLAMing on 24.33719347 meters Centerline goodness [0,1] 0.915062027484232 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.06, Z:-0.34 [[ 0.99833655 0.05705983 -0.00826485 1.02056667] [-0.0569521 0.99829573 0.01273135 -0.06151779] [ 0.00897721 -0.01223947 0.9998848 -0.34498046] [ 0. 0. 0. 1. ]] SLAMing on 24.36719347 meters Centerline goodness [0,1] 0.9160169721798382 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.06, Z:-0.34 [[ 0.99833899 0.05697154 -0.00857326 1.02115029] [-0.05687132 0.99831514 0.01151192 -0.05708808] [ 0.00921467 -0.01100522 0.99989698 -0.34467518] [ 0. 0. 0. 1. ]] SLAMing on 24.39719347 meters Centerline goodness [0,1] 0.9154357922925646 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:-0.34 [[ 0.99853826 0.05329094 -0.00902365 1.02162252] [-0.05323092 0.99855931 0.00676506 -0.05294203] [ 0.00937116 -0.00627483 0.9999364 -0.34431256] [ 0. 0. 0. 1. ]] SLAMing on 24.42719347 meters Centerline goodness [0,1] 0.9121936928453345 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:-0.34 [[ 0.99879635 0.04817361 -0.00922749 1.02058252] [-0.04815873 0.99883802 0.00182789 -0.05190572] [ 0.00930482 -0.00138131 0.99995576 -0.34293925] [ 0. 0. 0. 1. ]] SLAMing on 24.45719347 meters Centerline goodness [0,1] 0.9094385356374198 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:-0.34 [[ 0.9989945 0.04380632 -0.00953906 1.02081512] [-0.04383157 0.99903592 -0.00245495 -0.05167316] [ 0.00942232 0.0028706 0.99995149 -0.34288305] [ 0. 0. 0. 1. ]] SLAMing on 24.48719347 meters Centerline goodness [0,1] 0.9099584455720521 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:-0.34 [[ 0.99915711 0.03981309 -0.00999895 1.0217682 ] [-0.03987842 0.9991839 -0.00642161 -0.05135155] [ 0.00973513 0.00681494 0.99992939 -0.34333132] [ 0. 0. 0. 1. ]] SLAMing on 24.51719347 meters Centerline goodness [0,1] 0.908815098445379 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.05, Z:-0.35 [[ 0.99921433 0.03819803 -0.01056556 1.02460252] [-0.03828191 0.99923611 -0.00785477 -0.05159739] [ 0.01025746 0.00825307 0.99991333 -0.34569848] [ 0. 0. 0. 1. ]] SLAMing on 24.54719347 meters Centerline goodness [0,1] 0.9101542066829871 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.35 [[ 0.99919175 0.03871644 -0.01081176 1.02573453] [-0.03880309 0.99921547 -0.00792298 -0.05020641] [ 0.01049653 0.00833611 0.99991016 -0.34636796] [ 0. 0. 0. 1. ]] SLAMing on 24.57719347 meters Centerline goodness [0,1] 0.9117151994613701 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.35 [[ 0.99915165 0.03970042 -0.01094801 1.02627229] [-0.03978679 0.99917785 -0.00778751 -0.04820423] [ 0.01062984 0.00821649 0.99990974 -0.3464078 ] [ 0. 0. 0. 1. ]] SLAMing on 24.60719347 meters Centerline goodness [0,1] 0.9138242839719056 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.35 [[ 0.99911762 0.04043119 -0.01137088 1.0275175 ] [-0.04052243 0.99914731 -0.00791136 -0.04615883] [ 0.01104131 0.00836516 0.99990405 -0.34674088] [ 0. 0. 0. 1. ]] SLAMing on 24.63719347 meters Centerline goodness [0,1] 0.9141475464746274 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.35 [[ 0.99904825 0.04193858 -0.01198924 1.03043095] [-0.04202206 0.99909356 -0.00679788 -0.0459004 ] [ 0.01169328 0.00729523 0.99990502 -0.34876666] [ 0. 0. 0. 1. ]] SLAMing on 24.66719347 meters Centerline goodness [0,1] 0.914391097512417 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.35 [[ 0.99903671 0.04212905 -0.01227955 1.03198312] [-0.04221509 0.99908518 -0.00683353 -0.04548767] [ 0.01198043 0.00734533 0.99990125 -0.3500999 ] [ 0. 0. 0. 1. ]] SLAMing on 24.69719347 meters Centerline goodness [0,1] 0.9100111774258177 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.35 [[ 0.99914491 0.03919091 -0.01317264 1.03556804] [-0.03931254 0.99918548 -0.00910535 -0.04821168] [ 0.01280507 0.00961542 0.99987178 -0.35314077] [ 0. 0. 0. 1. ]] SLAMing on 24.72719347 meters Centerline goodness [0,1] 0.9094572025052192 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.36 [[ 0.99943386 0.03232562 -0.00932797 1.04622948] [-0.03236965 0.99946534 -0.00460929 -0.05082833] [ 0.00917398 0.00490863 0.99994587 -0.35588039] [ 0. 0. 0. 1. ]] SLAMing on 24.75719347 meters Centerline goodness [0,1] 0.90713837136278 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.36 [[ 0.99957132 0.02761739 -0.00971875 1.0461351 ] [-0.02770076 0.99957969 -0.00855026 -0.05215277] [ 0.00947853 0.00881581 0.99991622 -0.3551578 ] [ 0. 0. 0. 1. ]] SLAMing on 24.78719347 meters Centerline goodness [0,1] 0.9065094930106405 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.35 [[ 0.99978177 0.01955833 -0.00734035 1.05322858] [-0.01958781 0.99980028 -0.00396579 -0.0547844 ] [ 0.00726132 0.00410871 0.9999652 -0.35419374] [ 0. 0. 0. 1. ]] SLAMing on 24.81719347 meters Centerline goodness [0,1] 0.8943945623898633 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.35 [[ 9.99915670e-01 5.39883592e-03 -1.18112225e-02 1.05558379e+00] [-5.39910614e-03 9.99985425e-01 9.00801376e-06 -6.21654345e-02] [ 1.18110990e-02 5.47627897e-05 9.99930245e-01 -3.54756816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84719347 meters Centerline goodness [0,1] 0.885181281618887 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.36 [[ 0.99992697 0.0014753 -0.01199502 1.05635157] [-0.0015132 0.99999389 -0.00315187 -0.06588774] [ 0.0119903 0.00316979 0.99992309 -0.35541053] [ 0. 0. 0. 1. ]] SLAMing on 24.877193469999998 meters Centerline goodness [0,1] 0.8725467510885799 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.36 [[ 0.99992066 -0.00159246 -0.0124955 1.05866871] [ 0.00152142 0.99998264 -0.00569256 -0.06885134] [ 0.01250435 0.0056731 0.99990572 -0.35722871] [ 0. 0. 0. 1. ]] SLAMing on 24.90719347 meters Centerline goodness [0,1] 0.853875636165623 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.36 [[ 0.99996774 -0.00389256 -0.00702588 1.06933352] [ 0.00390985 0.99998936 0.00244974 -0.07070163] [ 0.00701627 -0.00247713 0.99997232 -0.36088624] [ 0. 0. 0. 1. ]] SLAMing on 24.93719347 meters Centerline goodness [0,1] 0.856281765867182 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.36 [[ 0.99996696 -0.00385327 -0.00715825 1.06908298] [ 0.00386831 0.99999034 0.00208726 -0.06804152] [ 0.00715014 -0.00211488 0.9999722 -0.36014434] [ 0. 0. 0. 1. ]] SLAMing on 24.96719347 meters Centerline goodness [0,1] 0.8824807509756355 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.36 [[ 0.99997148 -0.00272983 -0.00704244 1.06719074] [ 0.00275135 0.99999157 0.00304797 -0.06692129] [ 0.00703406 -0.00306726 0.99997056 -0.35800529] [ 0. 0. 0. 1. ]] SLAMing on 24.99719347 meters Centerline goodness [0,1] 0.8804805056191533 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.36 [[ 0.99999766 -0.0017803 -0.00123235 1.07452999] [ 0.00177386 0.99998487 -0.00520724 -0.06714927] [ 0.00124161 0.00520504 0.99998568 -0.35844451] [ 0. 0. 0. 1. ]] SLAMing on 25.02719347 meters Centerline goodness [0,1] 0.8576714046822742 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.36 [[ 0.99999781 -0.00161497 -0.00132968 1.07462762] [ 0.0016084 0.99998657 -0.00492742 -0.06792043] [ 0.00133762 0.00492527 0.99998698 -0.35830825] [ 0. 0. 0. 1. ]] SLAMing on 25.05719347 meters Centerline goodness [0,1] 0.8884990497671408 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.36 [[ 0.99999732 0.00189736 -0.0013292 1.07445371] [-0.00190037 0.99999563 -0.00226642 -0.06397667] [ 0.00132489 0.00226894 0.99999655 -0.35788059] [ 0. 0. 0. 1. ]] SLAMing on 25.08719347 meters Centerline goodness [0,1] 0.8967235423427196 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.36 [[ 9.99981781e-01 5.79664123e-03 -1.68449754e-03 1.07534568e+00] [-5.79547547e-03 9.99982964e-01 6.96113164e-04 -5.99271798e-02] [ 1.68850396e-03 -6.86338017e-04 9.99998339e-01 -3.58021568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11719347 meters Centerline goodness [0,1] 0.9027958251247014 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.36 [[ 0.99994635 0.01016819 -0.00197851 1.07628318] [-0.01016089 0.99994166 0.00366489 -0.05526449] [ 0.00201566 -0.00364459 0.99999133 -0.35825047] [ 0. 0. 0. 1. ]] SLAMing on 25.14719347 meters Centerline goodness [0,1] 0.9042707392391236 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.36 [[ 0.99967055 0.02557153 0.00221124 1.07054932] [-0.02557403 0.99967231 0.00111183 -0.04479077] [-0.00218209 -0.00116801 0.99999694 -0.35667611] [ 0. 0. 0. 1. ]] SLAMing on 25.17719347 meters Centerline goodness [0,1] 0.9037800687285223 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.36 [[ 0.9995552 0.02974623 0.00213663 1.07079512] [-0.02975471 0.99954902 0.00405036 -0.04120847] [-0.00201518 -0.00411214 0.99998951 -0.35627254] [ 0. 0. 0. 1. ]] SLAMing on 25.20719347 meters Centerline goodness [0,1] 0.9017812238055323 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.36 [[ 0.99942449 0.03386621 0.00193934 1.07158706] [-0.0338797 0.99939843 0.00741181 -0.03909255] [-0.00168716 -0.00747325 0.99997065 -0.35643858] [ 0. 0. 0. 1. ]] SLAMing on 25.23719347 meters Centerline goodness [0,1] 0.9029740871613663 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.36 [[ 0.99941219 0.03424217 0.00165581 1.07252898] [-0.03425231 0.99939185 0.00653566 -0.03561658] [-0.00143101 -0.00658853 0.99997727 -0.35677188] [ 0. 0. 0. 1. ]] SLAMing on 25.26719347 meters Centerline goodness [0,1] 0.9037513576739912 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:-0.36 [[ 9.99404563e-01 3.44817459e-02 1.23638682e-03 1.07404233e+00] [-3.44886014e-02 9.99386871e-01 6.03483297e-03 -3.31918796e-02] [-1.02753718e-03 -6.07388086e-03 9.99981026e-01 -3.57614034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29719347 meters Centerline goodness [0,1] 0.9002723083368245 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:-0.36 [[ 9.99414479e-01 3.42055144e-02 8.26058153e-04 1.07563847e+00] [-3.42097025e-02 9.99398183e-01 5.74177508e-03 -3.24779751e-02] [-6.29160647e-04 -5.76667236e-03 9.99983175e-01 -3.58832001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32719347 meters Centerline goodness [0,1] 0.9001093769719406 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:-0.36 [[ 9.99539231e-01 3.03470534e-02 6.18580987e-04 1.07575594e+00] [-3.03479382e-02 9.99538307e-01 1.47495422e-03 -3.12336695e-02] [-5.73534878e-04 -1.49304726e-03 9.99998721e-01 -3.58650083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.35719347 meters Centerline goodness [0,1] 0.9000608872745596 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:-0.36 [[ 9.99633883e-01 2.70566849e-02 1.89633993e-04 1.07586451e+00] [-2.70563163e-02 9.99632409e-01 -1.73294744e-03 -3.30387491e-02] [-2.36452098e-04 1.72718218e-03 9.99998480e-01 -3.57840621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38719347 meters Centerline goodness [0,1] 0.9008833626392029 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.03, Z:-0.36 [[ 9.99693163e-01 2.47607305e-02 -6.96840564e-04 1.07812681e+00] [-2.47634119e-02 9.99684743e-01 -4.14590522e-03 -3.46870409e-02] [ 5.93965238e-04 4.16188925e-03 9.99991163e-01 -3.58708979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41719347 meters Centerline goodness [0,1] 0.89953447408153 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.36 [[ 9.99764226e-01 2.16921933e-02 -9.70633561e-04 1.07871058e+00] [-2.16986175e-02 9.99738725e-01 -7.18691779e-03 -3.66200642e-02] [ 8.14479949e-04 7.20628470e-03 9.99973703e-01 -3.58925994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44719347 meters Centerline goodness [0,1] 0.900651500137047 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.36 [[ 9.99778258e-01 2.10468024e-02 -6.82988446e-04 1.07741713e+00] [-2.10511915e-02 9.99752292e-01 -7.22504533e-03 -4.06644427e-02] [ 5.30755163e-04 7.23782095e-03 9.99973666e-01 -3.58103908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47719347 meters Centerline goodness [0,1] 0.899156651908075 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:-0.36 [[ 9.99816303e-01 1.91435937e-02 -9.40207431e-04 1.07717633e+00] [-1.91504009e-02 9.99785704e-01 -7.86180581e-03 -4.85846348e-02] [ 7.89502732e-04 7.87836696e-03 9.99968654e-01 -3.57396059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50719347 meters Centerline goodness [0,1] 0.8992537313432836 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:-0.36 [[ 9.99811912e-01 1.93575105e-02 -1.19444067e-03 1.07798504e+00] [-1.93648920e-02 9.99791267e-01 -6.51327676e-03 -5.32006881e-02] [ 1.06811053e-03 6.53518191e-03 9.99978075e-01 -3.58022142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.53719347 meters Centerline goodness [0,1] 0.9002449902632075 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.36 [[ 0.99980802 0.01954219 -0.00142551 1.07881337] [-0.01954937 0.99979534 -0.00520531 -0.05772915] [ 0.0013235 0.00523218 0.99998544 -0.35868621] [ 0. 0. 0. 1. ]] SLAMing on 25.56719347 meters Centerline goodness [0,1] 0.8980078680840379 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.36 [[ 0.99985578 0.0168978 -0.00170005 1.07984568] [-0.0169098 0.9998303 -0.00730989 -0.06126755] [ 0.00157624 0.00733758 0.99997184 -0.35947645] [ 0. 0. 0. 1. ]] SLAMing on 25.59719347 meters Centerline goodness [0,1] 0.8985619980658454 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.07, Z:-0.36 [[ 0.99990182 0.01388938 -0.0018528 1.08015947] [-0.01390635 0.99985829 -0.00948707 -0.06603342] [ 0.00172077 0.0095119 0.99995328 -0.35975084] [ 0. 0. 0. 1. ]] SLAMing on 25.627193469999998 meters Centerline goodness [0,1] 0.898238255033557 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.08, Z:-0.36 [[ 0.99996188 0.00838009 -0.00245105 1.0823355 ] [-0.00841074 0.99988309 -0.01276976 -0.0790055 ] [ 0.00234375 0.01278989 0.99991546 -0.36167599] [ 0. 0. 0. 1. ]] SLAMing on 25.65719347 meters Centerline goodness [0,1] 0.8998558927340699 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.09, Z:-0.36 [[ 0.99997958 0.00568735 -0.0029136 1.08476567] [-0.00572798 0.99988374 -0.01413173 -0.08533384] [ 0.00283289 0.01414813 0.9998959 -0.36393027] [ 0. 0. 0. 1. ]] SLAMing on 25.68719347 meters Centerline goodness [0,1] 0.8998558927340699 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.09, Z:-0.36 [[ 0.99997958 0.00568735 -0.0029136 1.08476567] [-0.00572798 0.99988374 -0.01413173 -0.08533384] [ 0.00283289 0.01414813 0.9998959 -0.36393027] [ 0. 0. 0. 1. ]] SLAMing on 25.717193469999998 meters Centerline goodness [0,1] 0.8998640025107228 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:-0.37 [[ 9.99961335e-01 3.10966602e-05 -8.79366012e-03 1.09383492e+00] [-1.16180998e-04 9.99953186e-01 -9.67530016e-03 -9.82975222e-02] [ 8.79294759e-03 9.67594771e-03 9.99914526e-01 -3.65081749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74719347 meters Centerline goodness [0,1] 0.8985134541805181 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.10, Z:-0.36 [[ 9.99960217e-01 -4.14200263e-05 -8.91982023e-03 1.09355293e+00] [-3.08477715e-05 9.99967181e-01 -8.10164436e-03 -1.03719523e-01] [ 8.91986306e-03 8.10159720e-03 9.99927397e-01 -3.64334250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77719347 meters Centerline goodness [0,1] 0.8997091502584169 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.36 [[ 9.99959393e-01 1.18776115e-04 -9.01100713e-03 1.09284898e+00] [-1.77523358e-04 9.99978735e-01 -6.51897830e-03 -1.09121432e-01] [ 9.01004121e-03 6.52031324e-03 9.99938150e-01 -3.63142618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80719347 meters Centerline goodness [0,1] 0.8990158142664872 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.36 [[ 9.99958555e-01 2.80173594e-04 -9.10000715e-03 1.09245312e+00] [-3.27668603e-04 9.99986332e-01 -5.21815611e-03 -1.14631919e-01] [ 9.09842077e-03 5.22092163e-03 9.99944979e-01 -3.62467874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83719347 meters Centerline goodness [0,1] 0.8992662890110579 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.12, Z:-0.37 [[ 0.99998453 -0.00286268 -0.00476827 1.10279972] [ 0.00287394 0.9999931 0.00235529 -0.12135184] [ 0.0047615 -0.00236896 0.99998586 -0.36532179] [ 0. 0. 0. 1. ]] SLAMing on 25.86719347 meters Centerline goodness [0,1] 0.8997826813774658 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.37 [[ 0.99997547 -0.00502557 -0.00487868 1.10516069] [ 0.00503227 0.99998641 0.00136171 -0.13020161] [ 0.00487177 -0.00138623 0.99998717 -0.36798089] [ 0. 0. 0. 1. ]] SLAMing on 25.89719347 meters Centerline goodness [0,1] 0.9012539184952978 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.37 [[ 0.99997713 -0.00465237 -0.00490866 1.10537793] [ 0.00466251 0.99998702 0.00205516 -0.13156351] [ 0.00489903 -0.002078 0.99998584 -0.36815575] [ 0. 0. 0. 1. ]] SLAMing on 25.92719347 meters Centerline goodness [0,1] 0.9000563945109342 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.37 [[ 0.9999797 -0.00406847 -0.0049048 1.10535547] [ 0.00408083 0.99998852 0.00251139 -0.13124159] [ 0.00489453 -0.00253135 0.99998482 -0.36802776] [ 0. 0. 0. 1. ]] SLAMing on 25.95719347 meters Centerline goodness [0,1] 0.9014405010438413 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.37 [[ 0.99998232 -0.00328518 -0.00495619 1.10502611] [ 0.00329974 0.99999026 0.00293238 -0.13070847] [ 0.00494651 -0.00294868 0.99998342 -0.36731562] [ 0. 0. 0. 1. ]] SLAMing on 25.98719347 meters Centerline goodness [0,1] 0.9005547908063238 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.13, Z:-0.36 [[ 9.99988436e-01 4.84260907e-04 -4.78470433e-03 1.10253255e+00] [-4.53339373e-04 9.99979021e-01 6.46155230e-03 -1.32740726e-01] [ 4.78773303e-03 -6.45930848e-03 9.99967677e-01 -3.64389930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.01719347 meters Centerline goodness [0,1] 0.8992107241292909 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.13, Z:-0.36 [[ 9.99987045e-01 1.00519560e-03 -4.98990694e-03 1.10251634e+00] [-9.70768237e-04 9.99975744e-01 6.89703402e-03 -1.34038952e-01] [ 4.99671877e-03 -6.89210063e-03 9.99963765e-01 -3.63795239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04719347 meters Centerline goodness [0,1] 0.9022678862297958 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:-0.36 [[ 0.99998642 -0.00112634 -0.00508784 1.1032174 ] [ 0.00114891 0.9999895 0.00443624 -0.1358069 ] [ 0.00508279 -0.00444202 0.99997722 -0.36435641] [ 0. 0. 0. 1. ]] SLAMing on 26.07719347 meters Centerline goodness [0,1] 0.9032858547196252 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:-0.37 [[ 9.99985604e-01 -9.78945889e-04 -5.27576385e-03 1.10444909e+00] [ 1.00503861e-03 9.99987266e-01 4.94539078e-03 -1.37463901e-01] [ 5.27085540e-03 -4.95062193e-03 9.99973854e-01 -3.65558484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10719347 meters Centerline goodness [0,1] 0.9013654517700688 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.37 [[ 9.99984245e-01 -7.72484052e-04 -5.55994427e-03 1.10578846e+00] [ 8.02257890e-04 9.99985341e-01 5.35482394e-03 -1.38617564e-01] [ 5.55572625e-03 -5.35920008e-03 9.99970206e-01 -3.66591478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13719347 meters Centerline goodness [0,1] 0.9028550944669366 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.37 [[ 9.99983835e-01 -2.58342961e-04 -5.68008658e-03 1.10609487e+00] [ 2.92101167e-04 9.99982296e-01 5.94322947e-03 -1.39599078e-01] [ 5.67845063e-03 -5.94479256e-03 9.99966207e-01 -3.66654838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16719347 meters Centerline goodness [0,1] 0.9025157232704403 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.36 [[ 9.99984340e-01 4.25428445e-03 -3.63597467e-03 1.11315184e+00] [-4.25469003e-03 9.99990943e-01 -1.03820373e-04 -1.42344144e-01] [ 3.63550006e-03 1.19288693e-04 9.99993384e-01 -3.64650471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19719347 meters Centerline goodness [0,1] 0.9026437527473677 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.36 [[ 9.99980164e-01 5.06842867e-03 -3.73942631e-03 1.11352881e+00] [-5.06587305e-03 9.99986929e-01 6.92580403e-04 -1.44192572e-01] [ 3.74288772e-03 -6.73623206e-04 9.99992768e-01 -3.64783801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22719347 meters Centerline goodness [0,1] 0.9018488025512225 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.15, Z:-0.37 [[ 0.99997471 0.00591134 -0.0039551 1.11437674] [-0.0059062 0.9999817 0.00131129 -0.14508148] [ 0.00396278 -0.0012879 0.99999132 -0.36525964] [ 0. 0. 0. 1. ]] SLAMing on 26.25719347 meters Centerline goodness [0,1] 0.902195274932051 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.15, Z:-0.37 [[ 0.99996806 0.00693555 -0.0039726 1.11460777] [-0.0069279 0.99997412 0.00193787 -0.1452431 ] [ 0.00398594 -0.00191028 0.99999023 -0.36543616] [ 0. 0. 0. 1. ]] SLAMing on 26.28719347 meters Centerline goodness [0,1] 0.9010837273526089 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.15, Z:-0.36 [[ 0.9999553 0.00865524 -0.00380549 1.11391837] [-0.00864199 0.99995659 0.00348402 -0.14734438] [ 0.00383548 -0.00345097 0.99998669 -0.36477498] [ 0. 0. 0. 1. ]] SLAMing on 26.31719347 meters Centerline goodness [0,1] 0.9037351514137527 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.15, Z:-0.36 [[ 9.99977870e-01 5.45411871e-03 -3.80950700e-03 1.11367285e+00] [-5.45354232e-03 9.99985116e-01 1.61674003e-04 -1.48526732e-01] [ 3.81033209e-03 -1.40895117e-04 9.99992731e-01 -3.64380333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34719347 meters Centerline goodness [0,1] 0.9033796218838882 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.15, Z:-0.36 [[ 0.9999904 0.00223738 -0.00376721 1.1134448 ] [-0.00224788 0.9999936 -0.00278329 -0.1508995 ] [ 0.00376096 0.00279173 0.99998903 -0.36415085] [ 0. 0. 0. 1. ]] SLAMing on 26.377193469999998 meters Centerline goodness [0,1] 0.9040729279919713 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.36 [[ 0.99999096 0.00194597 -0.00378112 1.11361702] [-0.00195282 0.99999646 -0.00180827 -0.1551536 ] [ 0.00377759 0.00181563 0.99999122 -0.3642641 ] [ 0. 0. 0. 1. ]] SLAMing on 26.40719347 meters Centerline goodness [0,1] 0.9030698725594827 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.36 [[ 0.99997385 -0.0061342 -0.00382975 1.11378773] [ 0.00610436 0.9999513 -0.00775422 -0.16174474] [ 0.00387713 0.00773063 0.9999626 -0.36422301] [ 0. 0. 0. 1. ]] SLAMing on 26.43719347 meters Centerline goodness [0,1] 0.9052133693309056 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.17, Z:-0.37 [[ 0.99993965 -0.01018514 -0.00411929 1.11508374] [ 0.01014148 0.99989361 -0.01048429 -0.16660198] [ 0.00422563 0.01044189 0.99993655 -0.36512676] [ 0. 0. 0. 1. ]] SLAMing on 26.467193469999998 meters Centerline goodness [0,1] 0.905814752357754 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.17, Z:-0.37 [[ 0.9998911 -0.01404631 -0.00452611 1.11721242] [ 0.01398601 0.99981652 -0.01308888 -0.17144873] [ 0.00470913 0.01302415 0.99990409 -0.36677056] [ 0. 0. 0. 1. ]] SLAMing on 26.49719347 meters Centerline goodness [0,1] 0.9062480403018458 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.37 [[ 0.99983538 -0.01750337 -0.00477878 1.11923341] [ 0.01742681 0.99972617 -0.01561715 -0.17532108] [ 0.00505082 0.0155313 0.99986663 -0.36860169] [ 0. 0. 0. 1. ]] SLAMing on 26.52719347 meters Centerline goodness [0,1] 0.9070980992099251 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.37 [[ 0.99969716 -0.02405379 -0.00519736 1.1224288 ] [ 0.0239392 0.99949097 -0.02108837 -0.18008702] [ 0.00570197 0.02095756 0.99976411 -0.37135071] [ 0. 0. 0. 1. ]] SLAMing on 26.55719347 meters Centerline goodness [0,1] 0.9073152369400644 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.37 [[ 0.99969806 -0.02393875 -0.00554373 1.12319641] [ 0.0238214 0.99950917 -0.02034597 -0.18258938] [ 0.00602807 0.02020777 0.99977763 -0.3714741 ] [ 0. 0. 0. 1. ]] SLAMing on 26.58719347 meters Centerline goodness [0,1] 0.9073136929634841 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 0.99977941 -0.02018641 -0.00579974 1.12327564] [ 0.02009292 0.99967404 -0.01575063 -0.18559847] [ 0.0061158 0.01563062 0.99985913 -0.37105314] [ 0. 0. 0. 1. ]] SLAMing on 26.61719347 meters Centerline goodness [0,1] 0.9086274263983786 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 0.99991404 -0.01155017 -0.00620566 1.12340469] [ 0.0115079 0.99991062 -0.00680549 -0.18852451] [ 0.00628371 0.00673349 0.99995759 -0.37039264] [ 0. 0. 0. 1. ]] SLAMing on 26.64719347 meters Centerline goodness [0,1] 0.9090623494669823 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 0.99995698 -0.00686038 -0.00624348 1.12307308] [ 0.00684642 0.99997402 -0.00225534 -0.18923773] [ 0.00625879 0.0022125 0.99997797 -0.36992594] [ 0. 0. 0. 1. ]] SLAMing on 26.67719347 meters Centerline goodness [0,1] 0.9089464550795543 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 0.99997995 -0.00149699 -0.00615373 1.12284377] [ 0.00150938 0.99999684 0.00200975 -0.1878704 ] [ 0.0061507 -0.00201899 0.99997905 -0.36976504] [ 0. 0. 0. 1. ]] SLAMing on 26.70719347 meters Centerline goodness [0,1] 0.9081969956901963 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 0.9999802 -0.00117011 -0.00618297 1.12301352] [ 0.00118174 0.99999754 0.0018779 -0.18671152] [ 0.00618076 -0.00188517 0.99997912 -0.36986968] [ 0. 0. 0. 1. ]] SLAMing on 26.73719347 meters Centerline goodness [0,1] 0.9076443775352319 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 0.99997855 -0.00115931 -0.00644682 1.12383024] [ 0.00117162 0.9999975 0.00190568 -0.18662227] [ 0.0064446 -0.0019132 0.9999774 -0.3702178 ] [ 0. 0. 0. 1. ]] SLAMing on 26.76719347 meters Centerline goodness [0,1] 0.911073895750471 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 0.99996564 -0.00503207 -0.00658694 1.12357433] [ 0.00502349 0.99998651 -0.00131829 -0.1887725 ] [ 0.00659348 0.00128515 0.99997744 -0.36945588] [ 0. 0. 0. 1. ]] SLAMing on 26.79719347 meters Centerline goodness [0,1] 0.9110735806175851 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.37 [[ 9.99961135e-01 -5.73880220e-03 -6.69286293e-03 1.12374094e+00] [ 5.73373309e-03 9.99983261e-01 -7.76332179e-04 -1.93037647e-01] [ 6.69720611e-03 7.37926917e-04 9.99977301e-01 -3.69177643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82719347 meters Centerline goodness [0,1] 0.9136096156253912 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.37 [[ 0.99993248 -0.00945767 -0.00675133 1.12344523] [ 0.00943174 0.99994806 -0.00386281 -0.19603801] [ 0.00678751 0.00379887 0.99996975 -0.36846793] [ 0. 0. 0. 1. ]] SLAMing on 26.85719347 meters Centerline goodness [0,1] 0.9150377033174765 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.37 [[ 0.99992629 -0.00999004 -0.00690073 1.12371027] [ 0.00996831 0.99994527 -0.00317613 -0.20058967] [ 0.00693208 0.0031071 0.99997115 -0.36825411] [ 0. 0. 0. 1. ]] SLAMing on 26.88719347 meters Centerline goodness [0,1] 0.9147265779967845 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.21, Z:-0.37 [[ 0.99991803 -0.01084181 -0.00681086 1.12342352] [ 0.0108247 0.99993818 -0.00254382 -0.20523587] [ 0.00683802 0.00246988 0.99997357 -0.3679299 ] [ 0. 0. 0. 1. ]] SLAMing on 26.91719347 meters Centerline goodness [0,1] 0.9166095783770318 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.21, Z:-0.37 [[ 0.99991655 -0.01074353 -0.00717356 1.12457274] [ 0.01072812 0.99994007 -0.00218351 -0.20565184] [ 0.00719659 0.00210637 0.99997189 -0.36848552] [ 0. 0. 0. 1. ]] SLAMing on 26.94719347 meters Centerline goodness [0,1] 0.9151499831479609 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:-0.37 [[ 0.99991728 -0.01050172 -0.00742553 1.12515007] [ 0.01048845 0.99994333 -0.00182429 -0.20613663] [ 0.00744427 0.00174625 0.99997077 -0.36862255] [ 0. 0. 0. 1. ]] SLAMing on 26.97719347 meters Centerline goodness [0,1] 0.9175929795236105 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:-0.37 [[ 9.99925542e-01 -9.23536765e-03 -7.97608251e-03 1.12712136e+00] [ 9.23029242e-03 9.99957174e-01 -6.72884044e-04 -2.08127589e-01] [ 7.98195525e-03 5.99212369e-04 9.99967964e-01 -3.69826487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00719347 meters Centerline goodness [0,1] 0.9153703588013578 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:-0.37 [[ 9.99935069e-01 -7.63571571e-03 -8.45889937e-03 1.12930559e+00] [ 7.64175127e-03 9.99970569e-01 6.81424294e-04 -2.08811117e-01] [ 8.45344725e-03 -7.46020853e-04 9.99963991e-01 -3.71341699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.03719347 meters Centerline goodness [0,1] 0.9151727884334128 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:-0.37 [[ 9.99937390e-01 -7.23051550e-03 -8.54019303e-03 1.12972352e+00] [ 7.23662667e-03 9.99973581e-01 6.84892204e-04 -2.07909070e-01] [ 8.53501528e-03 -7.46651512e-04 9.99963297e-01 -3.71678640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06719347 meters Centerline goodness [0,1] 0.9157618947809684 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:-0.37 [[ 9.99937505e-01 -7.13750996e-03 -8.60474095e-03 1.13001783e+00] [ 7.14197244e-03 9.99974377e-01 4.87990462e-04 -2.06655852e-01] [ 8.60103743e-03 -5.49414787e-04 9.99962859e-01 -3.71915461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09719347 meters Centerline goodness [0,1] 0.9160522788203753 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:-0.37 [[ 9.99934253e-01 -7.53844211e-03 -8.64069579e-03 1.13049371e+00] [ 7.53860627e-03 9.99971584e-01 -1.35718178e-05 -2.04656778e-01] [ 8.64055257e-03 -5.15678780e-05 9.99962668e-01 -3.72395982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127193469999998 meters Centerline goodness [0,1] 0.917154934293128 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:-0.37 [[ 9.99929602e-01 -7.91752624e-03 -8.83762328e-03 1.13096418e+00] [ 7.91478577e-03 9.99968618e-01 -3.45023668e-04 -2.03811975e-01] [ 8.84007767e-03 2.75051484e-04 9.99960888e-01 -3.72482140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15719347 meters Centerline goodness [0,1] 0.9168823038397329 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:-0.37 [[ 9.99923612e-01 -8.30611777e-03 -9.15309035e-03 1.13181858e+00] [ 8.30102521e-03 9.99965369e-01 -5.94226782e-04 -2.03594458e-01] [ 9.15770909e-03 5.18201356e-04 9.99957933e-01 -3.72707881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18719347 meters Centerline goodness [0,1] 0.9155917581036938 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:-0.37 [[ 0.99991258 -0.00945955 -0.00923803 1.13210082] [ 0.00944581 0.99995422 -0.00152974 -0.20307833] [ 0.00925207 0.00144234 0.99995616 -0.37282381] [ 0. 0. 0. 1. ]] SLAMing on 27.217193469999998 meters Centerline goodness [0,1] 0.917644347607475 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:-0.37 [[ 0.99990889 -0.009726 -0.00935984 1.13210511] [ 0.00970743 0.99995083 -0.00202741 -0.20144584] [ 0.0093791 0.00193637 0.99995414 -0.37244871] [ 0. 0. 0. 1. ]] SLAMing on 27.24719347 meters Centerline goodness [0,1] 0.9153074684365905 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:-0.37 [[ 9.99929144e-01 -6.97995733e-03 -9.64300439e-03 1.13338697e+00] [ 6.98264444e-03 9.99975591e-01 2.45019012e-04 -1.97209555e-01] [ 9.64105880e-03 -3.12335322e-04 9.99953475e-01 -3.73438196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27719347 meters Centerline goodness [0,1] 0.9135405501964987 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.19, Z:-0.37 [[ 9.99927302e-01 -6.84568803e-03 -9.92613844e-03 1.13419171e+00] [ 6.84331537e-03 9.99976547e-01 -2.72976707e-04 -1.94273897e-01] [ 9.92777435e-03 2.05029166e-04 9.99950697e-01 -3.73797533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30719347 meters Centerline goodness [0,1] 0.9158428284182305 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.38 [[ 0.99993594 -0.00458758 -0.01034781 1.13632174] [ 0.00460683 0.9999877 0.00183702 -0.19269205] [ 0.01033926 -0.00188457 0.99994477 -0.37529058] [ 0. 0. 0. 1. ]] SLAMing on 27.33719347 meters Centerline goodness [0,1] 0.9150832845065707 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.38 [[ 0.99993987 -0.00395437 -0.01022814 1.13604576] [ 0.00397021 0.99999095 0.00152847 -0.18980637] [ 0.010222 -0.00156899 0.99994652 -0.37504391] [ 0. 0. 0. 1. ]] SLAMing on 27.36719347 meters Centerline goodness [0,1] 0.9135102331226719 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.37 [[ 9.99946791e-01 7.11212581e-04 -1.02912060e-02 1.13579791e+00] [-6.60178951e-04 9.99987474e-01 4.96150289e-03 -1.86812914e-01] [ 1.02946058e-02 -4.95444486e-03 9.99934735e-01 -3.74360375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39719347 meters Centerline goodness [0,1] 0.912656980522884 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.37 [[ 9.99945928e-01 1.17130498e-03 -1.03329189e-02 1.13554587e+00] [-1.12359079e-03 9.99988686e-01 4.62228424e-03 -1.84893387e-01] [ 1.03382161e-02 -4.61042433e-03 9.99935931e-01 -3.73830694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42719347 meters Centerline goodness [0,1] 0.9145086984874939 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.37 [[ 0.99994571 0.00143741 -0.0103207 1.13520567] [-0.00139341 0.99998992 0.00426884 -0.18314083] [ 0.01032673 -0.00425422 0.99993763 -0.37332246] [ 0. 0. 0. 1. ]] SLAMing on 27.45719347 meters Centerline goodness [0,1] 0.9132407678474342 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.38 [[ 0.99993301 0.00419255 -0.01078866 1.13770601] [-0.00411888 0.99996811 0.00684134 -0.18201782] [ 0.010817 -0.00679644 0.9999184 -0.37521875] [ 0. 0. 0. 1. ]] SLAMing on 27.48719347 meters Centerline goodness [0,1] 0.9139139139139139 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.38 [[ 0.99993012 0.00419299 -0.01105327 1.13874183] [-0.0041203 0.99996979 0.00659075 -0.18097772] [ 0.01108057 -0.00654474 0.99991719 -0.37586879] [ 0. 0. 0. 1. ]] SLAMing on 27.51719347 meters Centerline goodness [0,1] 0.913187845880756 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.38 [[ 0.99992846 0.00441998 -0.0111144 1.13911181] [-0.00434608 0.99996835 0.00666433 -0.18085362] [ 0.0111435 -0.00661555 0.99991602 -0.3761649 ] [ 0. 0. 0. 1. ]] SLAMing on 27.54719347 meters Centerline goodness [0,1] 0.9109444083565577 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.38 [[ 0.99992655 0.00467734 -0.011181 1.13933176] [-0.00460087 0.99996592 0.00685461 -0.18154884] [ 0.01121268 -0.00680266 0.999914 -0.37622981] [ 0. 0. 0. 1. ]] SLAMing on 27.57719347 meters Centerline goodness [0,1] 0.9108794842814685 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.38 [[ 0.99993559 0.00184695 -0.01119859 1.13947713] [-0.00180831 0.99999238 0.00345957 -0.18181103] [ 0.01120489 -0.0034391 0.99993131 -0.37623367] [ 0. 0. 0. 1. ]] SLAMing on 27.60719347 meters Centerline goodness [0,1] 0.9108794842814685 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.38 [[ 0.99993559 0.00184695 -0.01119859 1.13947713] [-0.00180831 0.99999238 0.00345957 -0.18181103] [ 0.01120489 -0.0034391 0.99993131 -0.37623367] [ 0. 0. 0. 1. ]] SLAMing on 27.63719347 meters Centerline goodness [0,1] 0.9102304301502079 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.37 [[ 9.99945527e-01 -1.03419862e-04 -1.04370273e-02 1.13651631e+00] [ 1.25745574e-04 9.99997706e-01 2.13845365e-03 -1.87334280e-01] [ 1.04367822e-02 -2.13964957e-03 9.99943246e-01 -3.73898399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66719347 meters Centerline goodness [0,1] 0.913378590078329 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.37 [[ 9.99945707e-01 -3.95984111e-04 -1.04128296e-02 1.13605459e+00] [ 4.23122601e-04 9.99996520e-01 2.60418122e-03 -1.89527983e-01] [ 1.04117621e-02 -2.60844574e-03 9.99942394e-01 -3.73207963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69719347 meters Centerline goodness [0,1] 0.9117769628271378 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.37 [[ 0.99994012 -0.00172081 -0.01080721 1.13806386] [ 0.00174331 0.99999633 0.00207295 -0.19128925] [ 0.01080361 -0.00209167 0.99993945 -0.37459573] [ 0. 0. 0. 1. ]] SLAMing on 27.72719347 meters Centerline goodness [0,1] 0.9112310879527905 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.38 [[ 0.99993612 -0.00242393 -0.0110396 1.13895758] [ 0.00245079 0.99999407 0.00242004 -0.19408085] [ 0.01103367 -0.00244694 0.99993613 -0.37513695] [ 0. 0. 0. 1. ]] SLAMing on 27.75719347 meters Centerline goodness [0,1] 0.9117524484267556 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.20, Z:-0.38 [[ 0.99989515 -0.00903371 -0.01131762 1.14113278] [ 0.00899761 0.99995428 -0.00323666 -0.19895889] [ 0.01134634 0.00313449 0.99993072 -0.37702389] [ 0. 0. 0. 1. ]] SLAMing on 27.78719347 meters Centerline goodness [0,1] 0.9101746661405221 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.20, Z:-0.38 [[ 0.99988849 -0.00947071 -0.0115465 1.14259755] [ 0.00944044 0.99995187 -0.00267292 -0.20278686] [ 0.01157126 0.00256361 0.99992976 -0.37820124] [ 0. 0. 0. 1. ]] SLAMing on 27.81719347 meters Centerline goodness [0,1] 0.9111074084102222 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.21, Z:-0.38 [[ 0.99988583 -0.00957312 -0.01169083 1.14353167] [ 0.00955056 0.99995242 -0.00198458 -0.20578179] [ 0.01170927 0.0018727 0.99992969 -0.37903242] [ 0. 0. 0. 1. ]] SLAMing on 27.84719347 meters Centerline goodness [0,1] 0.9123150656386747 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.21, Z:-0.38 [[ 0.99985204 -0.01187935 -0.01244089 1.1477873 ] [ 0.01183535 0.99992347 -0.00360377 -0.20917454] [ 0.01248275 0.00345599 0.99991612 -0.3824977 ] [ 0. 0. 0. 1. ]] SLAMing on 27.877193469999998 meters Centerline goodness [0,1] 0.9113937224211139 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.21, Z:-0.38 [[ 0.99984644 -0.0117437 -0.0130067 1.15070625] [ 0.01170889 0.99992767 -0.00274894 -0.21200404] [ 0.01303804 0.00259622 0.99991163 -0.38474595] [ 0. 0. 0. 1. ]] SLAMing on 27.90719347 meters Centerline goodness [0,1] 0.9098001585381117 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.21, Z:-0.39 [[ 0.99978654 -0.01573009 -0.01339523 1.15222293] [ 0.01565198 0.99986 -0.0059164 -0.21472024] [ 0.01348642 0.00570547 0.99989278 -0.3855708 ] [ 0. 0. 0. 1. ]] SLAMing on 27.93719347 meters Centerline goodness [0,1] 0.9080673462566845 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.39 [[ 0.99978023 -0.01606756 -0.01346571 1.15241663] [ 0.01599508 0.99985709 -0.00547288 -0.21672593] [ 0.01355172 0.00525629 0.99989436 -0.38552506] [ 0. 0. 0. 1. ]] SLAMing on 27.967193469999998 meters Centerline goodness [0,1] 0.9097187447838424 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.39 [[ 0.99977644 -0.01611205 -0.013692 1.15294402] [ 0.01604401 0.99985846 -0.00506515 -0.21817581] [ 0.01377167 0.00484434 0.99989343 -0.38550034] [ 0. 0. 0. 1. ]] SLAMing on 27.99719347 meters Centerline goodness [0,1] 0.9098639101348394 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.39 [[ 0.99977919 -0.01578842 -0.01386719 1.15313763] [ 0.01572648 0.99986591 -0.00456488 -0.21906166] [ 0.01393741 0.00434579 0.99989343 -0.3852518 ] [ 0. 0. 0. 1. ]] SLAMing on 28.02719347 meters Centerline goodness [0,1] 0.9080248332950104 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.38 [[ 9.99826213e-01 -1.22004726e-02 -1.40957961e-02 1.15331497e+00] [ 1.21954823e-02 9.99925536e-01 -4.39932147e-04 -2.21816889e-01] [ 1.41001138e-02 2.67950661e-04 9.99900553e-01 -3.84879419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05719347 meters Centerline goodness [0,1] 0.9091687194689158 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.39 [[ 9.99825132e-01 -1.18220674e-02 -1.44894187e-02 1.15458479e+00] [ 1.18201458e-02 9.99930116e-01 -2.18254350e-04 -2.21557806e-01] [ 1.44909863e-02 4.69491432e-05 9.99894999e-01 -3.85501600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08719347 meters Centerline goodness [0,1] 0.9079667460416928 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.39 [[ 9.99828237e-01 -1.13845476e-02 -1.46249339e-02 1.15477088e+00] [ 1.13859671e-02 9.99935178e-01 1.37958704e-05 -2.21128406e-01] [ 1.46238288e-02 -1.80312517e-04 9.99893050e-01 -3.85396859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11719347 meters Centerline goodness [0,1] 0.9093090211132437 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.38 [[ 0.9998528 -0.00958303 -0.01423179 1.15315271] [ 0.00960693 0.99995255 0.00161202 -0.2209495 ] [ 0.01421567 -0.0017485 0.99989742 -0.38428029] [ 0. 0. 0. 1. ]] SLAMing on 28.14719347 meters Centerline goodness [0,1] 0.9069509309095478 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.22, Z:-0.38 [[ 0.99985569 -0.0091718 -0.01429941 1.15321761] [ 0.00919994 0.99995587 0.0019033 -0.22066348] [ 0.01428132 -0.00203458 0.99989595 -0.38417281] [ 0. 0. 0. 1. ]] SLAMing on 28.17719347 meters Centerline goodness [0,1] 0.9080263377229538 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.39 [[ 0.99993163 -0.00596465 -0.01005753 1.16337177] [ 0.00591705 0.99997118 -0.0047559 -0.22016355] [ 0.0100856 0.00469606 0.99993811 -0.38656073] [ 0. 0. 0. 1. ]] SLAMing on 28.20719347 meters Centerline goodness [0,1] 0.9076971214017522 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.39 [[ 0.99994606 -0.00316731 -0.0098917 1.16225223] [ 0.00315345 0.99999403 -0.0014162 -0.22170378] [ 0.00989612 0.00138493 0.99995007 -0.38553343] [ 0. 0. 0. 1. ]] SLAMing on 28.23719347 meters Centerline goodness [0,1] 0.9081143095536087 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.38 [[ 0.99994904 -0.00267075 -0.00973556 1.16130975] [ 0.00265909 0.99999573 -0.00121017 -0.22017456] [ 0.00973875 0.00118422 0.99995188 -0.38464106] [ 0. 0. 0. 1. ]] SLAMing on 28.26719347 meters Centerline goodness [0,1] 0.9064790261624872 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.38 [[ 0.99994814 -0.00276481 -0.00980125 1.16154066] [ 0.00275327 0.9999955 -0.00119099 -0.21997517] [ 0.0098045 0.00116395 0.99995126 -0.38474703] [ 0. 0. 0. 1. ]] SLAMing on 28.29719347 meters Centerline goodness [0,1] 0.9020942517695697 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.39 [[ 0.99994451 -0.00320668 -0.01003434 1.16243278] [ 0.00319454 0.99999415 -0.00122531 -0.22040958] [ 0.01003821 0.00119319 0.9999489 -0.38528765] [ 0. 0. 0. 1. ]] SLAMing on 28.32719347 meters Centerline goodness [0,1] 0.9038565770273087 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.39 [[ 0.99993858 -0.0042275 -0.01024474 1.16333524] [ 0.00421258 0.99999004 -0.00147735 -0.22159261] [ 0.01025088 0.0014341 0.99994643 -0.38578565] [ 0. 0. 0. 1. ]] SLAMing on 28.35719347 meters Centerline goodness [0,1] 0.9027590078383267 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.39 [[ 0.99985114 -0.01371283 -0.01047196 1.16478106] [ 0.01359943 0.99984893 -0.01082483 -0.21959693] [ 0.01061882 0.0106808 0.99988657 -0.38684052] [ 0. 0. 0. 1. ]] SLAMing on 28.38719347 meters Centerline goodness [0,1] 0.8967629596995825 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.39 [[ 0.99983189 -0.01500918 -0.01053125 1.16500008] [ 0.01488821 0.99982334 -0.01147268 -0.22004555] [ 0.01070158 0.01131396 0.99987873 -0.38682816] [ 0. 0. 0. 1. ]] SLAMing on 28.41719347 meters Centerline goodness [0,1] 0.8980911782616913 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.39 [[ 0.99981365 -0.01610391 -0.01064579 1.16519777] [ 0.0159729 0.99979703 -0.012279 -0.21913328] [ 0.01084137 0.01210667 0.99986794 -0.38662481] [ 0. 0. 0. 1. ]] SLAMing on 28.44719347 meters Centerline goodness [0,1] 0.8889051828885072 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.39 [[ 0.99979702 -0.01692426 -0.01093079 1.16592363] [ 0.01677971 0.99977229 -0.01318332 -0.21677161] [ 0.01115142 0.01299723 0.99985335 -0.3867365 ] [ 0. 0. 0. 1. ]] SLAMing on 28.47719347 meters Centerline goodness [0,1] 0.8731032182758045 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.39 [[ 0.99981414 -0.01570695 -0.01117928 1.16722065] [ 0.01556769 0.99980146 -0.0124374 -0.20992032] [ 0.01137241 0.01226105 0.99986016 -0.38768969] [ 0. 0. 0. 1. ]] SLAMing on 28.50719347 meters Centerline goodness [0,1] 0.8306770421538846 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.39 [[ 0.99985905 -0.01251055 -0.01119691 1.1669545 ] [ 0.01240447 0.99987799 -0.00949405 -0.20725317] [ 0.01131432 0.00935382 0.99989224 -0.38723505] [ 0. 0. 0. 1. ]] SLAMing on 28.53719347 meters Centerline goodness [0,1] 0.8889587788820397 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.20, Z:-0.39 [[ 0.9998964 -0.00906349 -0.01118242 1.16611131] [ 0.00898955 0.99993752 -0.00664471 -0.20412992] [ 0.01124194 0.0065435 0.9999154 -0.38615911] [ 0. 0. 0. 1. ]] SLAMing on 28.56719347 meters Centerline goodness [0,1] 0.8942530186377214 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.20, Z:-0.39 [[ 0.99993915 -0.00185322 -0.01087521 1.16524533] [ 0.00182988 0.999996 -0.00215609 -0.19526635] [ 0.01087916 0.00213606 0.99993854 -0.38556722] [ 0. 0. 0. 1. ]] SLAMing on 28.59719347 meters Centerline goodness [0,1] 0.8960459050599896 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.19, Z:-0.39 [[ 0.99997401 0.00436265 -0.00574077 1.17701632] [-0.00439622 0.99997324 -0.00584675 -0.18839897] [ 0.00571511 0.00587184 0.99996643 -0.38918594] [ 0. 0. 0. 1. ]] SLAMing on 28.627193469999998 meters Centerline goodness [0,1] 0.8951526709558438 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.18, Z:-0.39 [[ 9.99919326e-01 1.12730195e-02 -5.85317929e-03 1.17816036e+00] [-1.12743509e-02 9.99936424e-01 -1.94529446e-04 -1.82629584e-01] [ 5.85061423e-03 2.60504550e-04 9.99982851e-01 -3.90070858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65719347 meters Centerline goodness [0,1] 0.8965495699977094 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.17, Z:-0.40 [[ 9.99699806e-01 2.44719439e-02 -1.19210856e-03 1.19263510e+00] [-2.44684198e-02 9.99696437e-01 2.88614878e-03 -1.67394047e-01] [ 1.26237635e-03 -2.85611337e-03 9.99995124e-01 -3.95129685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68719347 meters Centerline goodness [0,1] 0.8999415717207129 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.16, Z:-0.40 [[ 0.99952899 0.03064267 -0.00168057 1.19588719] [-0.03062804 0.99949777 0.00813168 -0.16208834] [ 0.00192891 -0.00807637 0.99996553 -0.39755636] [ 0. 0. 0. 1. ]] SLAMing on 28.717193469999998 meters Centerline goodness [0,1] 0.9053661998288494 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.16, Z:-0.40 [[ 0.9994267 0.0337799 -0.00227645 1.1992115 ] [-0.03375544 0.99937969 0.01003978 -0.15707208] [ 0.00261418 -0.00995718 0.99994701 -0.4000357 ] [ 0. 0. 0. 1. ]] SLAMing on 28.74719347 meters Centerline goodness [0,1] 0.9093087711255131 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.15, Z:-0.40 [[ 0.99933671 0.03630598 -0.00283019 1.20248399] [-0.03627018 0.99927218 0.01181433 -0.15367858] [ 0.00325706 -0.01170384 0.9999262 -0.40258769] [ 0. 0. 0. 1. ]] SLAMing on 28.77719347 meters Centerline goodness [0,1] 0.9135199448932306 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:-0.41 [[ 0.99925952 0.03832118 -0.00345071 1.2062563 ] [-0.0382738 0.99918423 0.01288377 -0.1492292 ] [ 0.00394162 -0.01274215 0.99991105 -0.40573971] [ 0. 0. 0. 1. ]] SLAMing on 28.807193469999998 meters Centerline goodness [0,1] 0.9119667578459418 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.15, Z:-0.41 [[ 0.99928142 0.03770173 -0.00390217 1.20742911] [-0.03765292 0.99921994 0.01190645 -0.14690079] [ 0.00434802 -0.01175096 0.9999215 -0.40609799] [ 0. 0. 0. 1. ]] SLAMing on 28.83719347 meters Centerline goodness [0,1] 0.912755038177494 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.41 [[ 0.99941626 0.03388236 -0.00437224 1.2082683 ] [-0.0338499 0.9994003 0.00729619 -0.14322706] [ 0.00461683 -0.00714393 0.99996382 -0.40619585] [ 0. 0. 0. 1. ]] SLAMing on 28.86719347 meters Centerline goodness [0,1] 0.9123181133968892 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.41 [[ 0.99954053 0.02994132 -0.00471558 1.2084708 ] [-0.02992913 0.99954855 0.00263485 -0.1397973 ] [ 0.00479235 -0.00249251 0.99998541 -0.40571698] [ 0. 0. 0. 1. ]] SLAMing on 28.89719347 meters Centerline goodness [0,1] 0.9127055619566355 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.41 [[ 0.99963619 0.02651639 -0.00493747 1.208426 ] [-0.02652362 0.9996472 -0.0014053 -0.13709777] [ 0.00489846 0.00153575 0.99998682 -0.40519941] [ 0. 0. 0. 1. ]] SLAMing on 28.92719347 meters Centerline goodness [0,1] 0.914400952958141 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.40 [[ 0.99965212 0.02584109 -0.00527938 1.2087833 ] [-0.02585226 0.99966365 -0.00206006 -0.13608551] [ 0.00522437 0.00219583 0.99998394 -0.40478305] [ 0. 0. 0. 1. ]] SLAMing on 28.95719347 meters Centerline goodness [0,1] 0.9144784942867289 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.40 [[ 0.99966253 0.02537547 -0.00556027 1.20929183] [-0.02539009 0.9996743 -0.00257562 -0.13565494] [ 0.0054931 0.00271593 0.99998122 -0.40466576] [ 0. 0. 0. 1. ]] SLAMing on 28.98719347 meters Centerline goodness [0,1] 0.9141757294011232 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.40 [[ 0.99967318 0.02491159 -0.00573934 1.20920838] [-0.0249296 0.99968444 -0.00308895 -0.13545561] [ 0.00566058 0.00323102 0.99997876 -0.40407101] [ 0. 0. 0. 1. ]] SLAMing on 29.01719347 meters Centerline goodness [0,1] 0.9158044652955222 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.40 [[ 0.9997187 0.02288272 -0.00623686 1.21084978] [-0.02291562 0.9997236 -0.0052543 -0.13515579] [ 0.0061149 0.00539574 0.99996675 -0.40496262] [ 0. 0. 0. 1. ]] SLAMing on 29.04719347 meters Centerline goodness [0,1] 0.9153793089031503 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.13, Z:-0.41 [[ 0.99974591 0.02147877 -0.00683954 1.21347701] [-0.02152343 0.99974706 -0.0065236 -0.13474413] [ 0.00669769 0.00666916 0.99995533 -0.40686504] [ 0. 0. 0. 1. ]] SLAMing on 29.07719347 meters Centerline goodness [0,1] 0.9175773562785244 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.14, Z:-0.41 [[ 0.99975513 0.02090722 -0.0072499 1.21482199] [-0.02095601 0.99975781 -0.00672116 -0.13526994] [ 0.00710762 0.00687145 0.99995113 -0.4076405 ] [ 0. 0. 0. 1. ]] SLAMing on 29.10719347 meters Centerline goodness [0,1] 0.9153870260106549 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.41 [[ 0.99977553 0.01977794 -0.00759733 1.21556232] [-0.01983234 0.99977773 -0.00715331 -0.13577672] [ 0.00745416 0.00730237 0.99994555 -0.40776403] [ 0. 0. 0. 1. ]] SLAMing on 29.13719347 meters Centerline goodness [0,1] 0.9141703979315129 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.41 [[ 0.99977967 0.0195197 -0.0077191 1.21528184] [-0.01957631 0.99978151 -0.00732778 -0.13578841] [ 0.00757438 0.00747727 0.99994336 -0.4070216 ] [ 0. 0. 0. 1. ]] SLAMing on 29.16719347 meters Centerline goodness [0,1] 0.9141010624947712 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.41 [[ 9.99857831e-01 1.65525191e-02 -3.21429677e-03 1.22187087e+00] [-1.65512502e-02 9.99862930e-01 4.20965316e-04 -1.36297391e-01] [ 3.22082423e-03 -3.67704838e-04 9.99994746e-01 -4.06358452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.19719347 meters Centerline goodness [0,1] 0.91521498758684 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.41 [[ 9.99859064e-01 1.64178185e-02 -3.50810243e-03 1.22264356e+00] [-1.64168906e-02 9.99865191e-01 2.93117111e-04 -1.36580928e-01] [ 3.51244185e-03 -2.35483666e-04 9.99993804e-01 -4.06593931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22719347 meters Centerline goodness [0,1] 0.9161924686192469 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.41 [[ 0.99990763 0.01311141 -0.00357984 1.22270734] [-0.01312482 0.99990684 -0.00374897 -0.13523381] [ 0.00353035 0.00379561 0.99998656 -0.40649962] [ 0. 0. 0. 1. ]] SLAMing on 29.25719347 meters Centerline goodness [0,1] 0.9173259659257399 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.41 [[ 0.99990837 0.01300512 -0.00375857 1.22348952] [-0.01301974 0.99990766 -0.00389328 -0.1352238 ] [ 0.00370759 0.00394186 0.99998536 -0.40703384] [ 0. 0. 0. 1. ]] SLAMing on 29.28719347 meters Centerline goodness [0,1] 0.918609270138613 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.13, Z:-0.41 [[ 0.99990556 0.01308867 -0.00418904 1.22445147] [-0.01310698 0.99990453 -0.00437405 -0.13259758] [ 0.00413139 0.00442855 0.99998166 -0.4071526 ] [ 0. 0. 0. 1. ]] SLAMing on 29.31719347 meters Centerline goodness [0,1] 0.9197133664814273 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.99990356 0.01313564 -0.00450852 1.22532825] [-0.01315668 0.99990254 -0.00466958 -0.13107926] [ 0.00444674 0.00472845 0.99997893 -0.40741592] [ 0. 0. 0. 1. ]] SLAMing on 29.34719347 meters Centerline goodness [0,1] 0.9211207076396712 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.99989987 0.01324412 -0.00498478 1.22660528] [-0.01326763 0.99990088 -0.00471173 -0.13087137] [ 0.00492189 0.00477739 0.99997648 -0.40785732] [ 0. 0. 0. 1. ]] SLAMing on 29.377193469999998 meters Centerline goodness [0,1] 0.9221550602359064 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.999898 0.01328842 -0.00523524 1.22738229] [-0.01331275 0.99990062 -0.00463993 -0.13166335] [ 0.00517307 0.00470916 0.99997553 -0.40825813] [ 0. 0. 0. 1. ]] SLAMing on 29.40719347 meters Centerline goodness [0,1] 0.9228133943305968 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.99991003 0.0120408 -0.00591273 1.23074683] [-0.01207353 0.99991182 -0.00553077 -0.13235088] [ 0.00584562 0.00560166 0.99996722 -0.41099542] [ 0. 0. 0. 1. ]] SLAMing on 29.43719347 meters Centerline goodness [0,1] 0.9217936657259329 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.99991299 0.01161264 -0.00625736 1.23187677] [-0.01164858 0.99991569 -0.00573813 -0.13227882] [ 0.0061902 0.00581052 0.99996396 -0.41157627] [ 0. 0. 0. 1. ]] SLAMing on 29.467193469999998 meters Centerline goodness [0,1] 0.9210009198093486 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.99991683 0.01097029 -0.00678064 1.23313577] [-0.01101141 0.99992103 -0.00605728 -0.13236142] [ 0.00671365 0.00613145 0.99995867 -0.41190723] [ 0. 0. 0. 1. ]] SLAMing on 29.49719347 meters Centerline goodness [0,1] 0.9210009198093486 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.99991683 0.01097029 -0.00678064 1.23313577] [-0.01101141 0.99992103 -0.00605728 -0.13236142] [ 0.00671365 0.00613145 0.99995867 -0.41190723] [ 0. 0. 0. 1. ]] SLAMing on 29.52719347 meters Centerline goodness [0,1] 0.9193969933301274 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.13, Z:-0.41 [[ 0.99991999 0.0103396 -0.00728756 1.23442832] [-0.01038564 0.99992617 -0.00630807 -0.13300488] [ 0.0072218 0.00638325 0.99995355 -0.41230804] [ 0. 0. 0. 1. ]] SLAMing on 29.557193469999998 meters Centerline goodness [0,1] 0.9174342656171496 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.41 [[ 0.99993452 0.00808712 -0.00809635 1.2360403 ] [-0.00814987 0.99993677 -0.00774842 -0.13295508] [ 0.00803317 0.0078139 0.9999372 -0.41250819] [ 0. 0. 0. 1. ]] SLAMing on 29.58719347 meters Centerline goodness [0,1] 0.9172276813715241 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.41 [[ 0.99993488 0.00778514 -0.00834433 1.23700584] [-0.00785355 0.99993556 -0.0081973 -0.13141401] [ 0.00827997 0.0082623 0.99993159 -0.41305399] [ 0. 0. 0. 1. ]] SLAMing on 29.61719347 meters Centerline goodness [0,1] 0.9169607986466448 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.42 [[ 0.9999232 0.00854092 -0.00898017 1.23998844] [-0.00861019 0.99993326 -0.0077032 -0.12919953] [ 0.00891378 0.00777993 0.99993001 -0.41506013] [ 0. 0. 0. 1. ]] SLAMing on 29.64719347 meters Centerline goodness [0,1] 0.9172728599120412 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.42 [[ 0.99990268 0.01002566 -0.00970098 1.24218107] [-0.01009216 0.99992574 -0.00683114 -0.1239573 ] [ 0.00963177 0.00692838 0.99992961 -0.4158788 ] [ 0. 0. 0. 1. ]] SLAMing on 29.67719347 meters Centerline goodness [0,1] 0.9175789737589838 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.41 [[ 0.99990797 0.0094796 -0.00970491 1.24122346] [-0.00955793 0.99992186 -0.00805667 -0.12104434] [ 0.00962778 0.00814869 0.99992045 -0.41441601] [ 0. 0. 0. 1. ]] SLAMing on 29.70719347 meters Centerline goodness [0,1] 0.9202116534906094 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.41 [[ 0.99991663 0.00867816 -0.00956117 1.23973288] [-0.00876946 0.99991596 -0.00954802 -0.1175087 ] [ 0.00947751 0.00963107 0.99990871 -0.41257624] [ 0. 0. 0. 1. ]] SLAMing on 29.73719347 meters Centerline goodness [0,1] 0.9205421095495646 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.11, Z:-0.41 [[ 9.99949322e-01 5.95554626e-03 -8.11696035e-03 1.24637067e+00] [-5.96581918e-03 9.99981433e-01 -1.24198715e-03 -1.14943340e-01] [ 8.10941293e-03 1.29034853e-03 9.99966286e-01 -4.09890810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76719347 meters Centerline goodness [0,1] 0.9197043717900538 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.11, Z:-0.41 [[ 0.9999582 0.00412505 -0.00816031 1.24653664] [-0.00415729 0.99998361 -0.0039377 -0.1057832 ] [ 0.00814393 0.00397146 0.99995895 -0.40982044] [ 0. 0. 0. 1. ]] SLAMing on 29.79719347 meters Centerline goodness [0,1] 0.9194216605289588 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.10, Z:-0.41 [[ 0.99995948 0.00336254 -0.00835021 1.247776 ] [-0.00340656 0.99998035 -0.00526337 -0.10151282] [ 0.00833235 0.0052916 0.99995128 -0.41080946] [ 0. 0. 0. 1. ]] SLAMing on 29.82719347 meters Centerline goodness [0,1] 0.9152375361650383 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:-0.41 [[ 0.99995598 0.00347934 -0.00871355 1.25019225] [-0.00353011 0.99997684 -0.00581804 -0.09493951] [ 0.00869311 0.00584854 0.99994511 -0.41295626] [ 0. 0. 0. 1. ]] SLAMing on 29.85719347 meters Centerline goodness [0,1] 0.9150567054449759 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:-0.41 [[ 0.99995389 0.00326754 -0.0090295 1.25133668] [-0.00332769 0.99997232 -0.00665429 -0.09210839] [ 0.00900751 0.00668404 0.99993709 -0.413478 ] [ 0. 0. 0. 1. ]] SLAMing on 29.88719347 meters Centerline goodness [0,1] 0.914688675302967 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:-0.41 [[ 0.99995228 0.0032259 -0.00922176 1.25199824] [-0.00329418 0.99996721 -0.0073984 -0.08917622] [ 0.00919759 0.00742842 0.99993011 -0.4135876 ] [ 0. 0. 0. 1. ]] SLAMing on 29.91719347 meters Centerline goodness [0,1] 0.9143167028199566 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:-0.41 [[ 0.99994923 0.0032624 -0.00953421 1.25307 ] [-0.00333979 0.99996152 -0.00811236 -0.0857695 ] [ 0.00950738 0.00814379 0.99992164 -0.41394099] [ 0. 0. 0. 1. ]] SLAMing on 29.94719347 meters Centerline goodness [0,1] 0.9130452941299309 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.08, Z:-0.41 [[ 0.99993771 0.00573187 -0.00957703 1.25317993] [-0.00579617 0.99996076 -0.00669953 -0.07776614] [ 0.00953825 0.00675462 0.9999317 -0.41366087] [ 0. 0. 0. 1. ]] SLAMing on 29.97719347 meters Centerline goodness [0,1] 0.9137851833291573 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:-0.41 [[ 0.9999337 0.00580885 -0.00994243 1.25419638] [-0.0058809 0.99995655 -0.00723295 -0.07334663] [ 0.00989998 0.00729094 0.99992441 -0.41374556] [ 0. 0. 0. 1. ]] SLAMing on 30.00719347 meters Centerline goodness [0,1] 0.9121335384745084 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.07, Z:-0.41 [[ 0.99992632 0.00728024 -0.00971342 1.25318414] [-0.00733719 0.99995603 -0.00583973 -0.07082789] [ 0.00967048 0.00591057 0.99993577 -0.41294386] [ 0. 0. 0. 1. ]] SLAMing on 30.03719347 meters Centerline goodness [0,1] 0.9099184325597041 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:-0.41 [[ 0.9999181 0.00748582 -0.01038099 1.25590051] [-0.00754964 0.99995276 -0.00612271 -0.0684288 ] [ 0.01033466 0.00620059 0.99992737 -0.41451267] [ 0. 0. 0. 1. ]] SLAMing on 30.06719347 meters Centerline goodness [0,1] 0.9103325664087011 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.07, Z:-0.42 [[ 0.99991128 0.00763219 -0.01091742 1.25821604] [-0.00770225 0.99994992 -0.00638944 -0.06635677] [ 0.0108681 0.00647296 0.99991999 -0.41595889] [ 0. 0. 0. 1. ]] SLAMing on 30.09719347 meters Centerline goodness [0,1] 0.9063004507810043 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:-0.42 [[ 0.99991754 0.00670571 -0.01095219 1.2580404 ] [-0.00679411 0.99994448 -0.00805496 -0.06073047] [ 0.01089757 0.0081287 0.99990758 -0.4154366 ] [ 0. 0. 0. 1. ]] SLAMing on 30.127193469999998 meters Centerline goodness [0,1] 0.9055864165181847 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:-0.42 [[ 0.99991966 0.00611501 -0.01110357 1.25835145] [-0.0062155 0.99993983 -0.00903898 -0.05741013] [ 0.01104763 0.00910727 0.9998975 -0.41516416] [ 0. 0. 0. 1. ]] SLAMing on 30.15719347 meters Centerline goodness [0,1] 0.9010745494836309 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.05, Z:-0.41 [[ 0.99990676 0.00680473 -0.01183903 1.25950101] [-0.00690528 0.99994027 -0.00847247 -0.05198419] [ 0.01178067 0.00855343 0.99989402 -0.41465176] [ 0. 0. 0. 1. ]] SLAMing on 30.18719347 meters Centerline goodness [0,1] 0.9050151816563711 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.05, Z:-0.41 [[ 0.9999046 0.00665578 -0.01210369 1.2603165 ] [-0.00676612 0.99993572 -0.00909768 -0.04977162] [ 0.01204236 0.00917871 0.99988536 -0.41476874] [ 0. 0. 0. 1. ]] SLAMing on 30.217193469999998 meters Centerline goodness [0,1] 0.900230607966457 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.05, Z:-0.41 [[ 0.99990449 0.00641506 -0.01224183 1.26078296] [-0.00653498 0.99993081 -0.00978135 -0.04757829] [ 0.01217823 0.00986042 0.99987722 -0.41482478] [ 0. 0. 0. 1. ]] SLAMing on 30.24719347 meters Centerline goodness [0,1] 0.9096185389241704 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.05, Z:-0.41 [[ 0.99989028 0.0087045 -0.01198579 1.25960969] [-0.00879458 0.99993332 -0.00748399 -0.0459192 ] [ 0.01191985 0.00758858 0.99990016 -0.41383925] [ 0. 0. 0. 1. ]] SLAMing on 30.27719347 meters Centerline goodness [0,1] 0.9052664576802508 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.04, Z:-0.41 [[ 0.99986306 0.0113275 -0.01206406 1.26002644] [-0.01139831 0.99991812 -0.00581707 -0.03874198] [ 0.01199718 0.00595378 0.99991031 -0.41364192] [ 0. 0. 0. 1. ]] SLAMing on 30.307193469999998 meters Centerline goodness [0,1] 0.9101536265950302 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.03, Z:-0.41 [[ 0.9998648 0.01106748 -0.01216109 1.26045536] [-0.01115437 0.99991257 -0.00710095 -0.03427973] [ 0.01208144 0.00723564 0.99990084 -0.41355533] [ 0. 0. 0. 1. ]] SLAMing on 30.33719347 meters Centerline goodness [0,1] 0.9111777283971322 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.03, Z:-0.41 [[ 0.99985437 0.01172741 -0.01239809 1.26201033] [-0.01181812 0.99990374 -0.00726868 -0.03081293] [ 0.01231165 0.00741414 0.99989672 -0.41458627] [ 0. 0. 0. 1. ]] SLAMing on 30.36719347 meters Centerline goodness [0,1] 0.912797281993205 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.03, Z:-0.41 [[ 0.99984677 0.01227259 -0.01248256 1.26267565] [-0.01237028 0.99989323 -0.00777871 -0.02756885] [ 0.01238576 0.00793193 0.99989183 -0.4147827 ] [ 0. 0. 0. 1. ]] SLAMing on 30.39719347 meters Centerline goodness [0,1] 0.9116394233795665 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:-0.41 [[ 0.99979809 0.01601658 -0.01213493 1.26146799] [-0.01609251 0.99985137 -0.00618614 -0.01977652] [ 0.01203404 0.00638017 0.99990723 -0.41301978] [ 0. 0. 0. 1. ]] SLAMing on 30.42719347 meters Centerline goodness [0,1] 0.9169908395030744 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:-0.41 [[ 0.99972647 0.01986433 -0.01234517 1.26248412] [-0.01990455 0.99979694 -0.00314373 -0.01518755] [ 0.01228022 0.00338859 0.99991885 -0.41325718] [ 0. 0. 0. 1. ]] SLAMing on 30.45719347 meters Centerline goodness [0,1] 0.9151392426203498 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.01, Z:-0.41 [[ 9.99643622e-01 2.35289493e-02 -1.26102251e-02 1.26341802e+00] [-2.35366468e-02 9.99722868e-01 -4.62339407e-04 -1.00447483e-02] [ 1.25958521e-02 7.58977054e-04 9.99920381e-01 -4.13164947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48719347 meters Centerline goodness [0,1] 0.9124246940531917 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.00, Z:-0.41 [[ 0.99942321 0.03147896 -0.01274019 1.26505816] [-0.03140968 0.9994909 0.00560172 -0.00353661] [ 0.01291004 -0.00519833 0.99990315 -0.41392711] [ 0. 0. 0. 1. ]] SLAMing on 30.51719347 meters Centerline goodness [0,1] 0.9117215349129797 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.00, Z:-0.42 [[ 9.99367720e-01 3.30609482e-02 -1.30818312e-02 1.26739189e+00] [-3.29856560e-02 9.99438233e-01 5.93003667e-03 -6.45414648e-04] [ 1.32705349e-02 -5.49477444e-03 9.99896845e-01 -4.15502214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54719347 meters Centerline goodness [0,1] 0.9090966149211264 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.42 [[ 0.99933836 0.03387559 -0.01323957 1.26873935] [-0.03380533 0.99941333 0.00549457 0.00198931] [ 0.01341794 -0.00504337 0.99989726 -0.41636853] [ 0. 0. 0. 1. ]] SLAMing on 30.57719347 meters Centerline goodness [0,1] 0.8974546978108306 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:-0.42 [[ 0.99931054 0.03462551 -0.01339817 1.26972701] [-0.03455805 0.99938899 0.00523385 0.00428177] [ 0.01357121 -0.00476723 0.99989654 -0.41688267] [ 0. 0. 0. 1. ]] SLAMing on 30.60719347 meters Centerline goodness [0,1] 0.880405575615081 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.42 [[ 0.99912545 0.03952655 -0.01363787 1.27131643] [-0.03940132 0.99917988 0.00933261 0.00575194] [ 0.01399557 -0.00878709 0.99986345 -0.41773923] [ 0. 0. 0. 1. ]] SLAMing on 30.63719347 meters Centerline goodness [0,1] 0.8759475646019181 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.42 [[ 0.99909715 0.04007726 -0.01409572 1.27302308] [-0.0399429 0.99915499 0.00968835 0.0058788 ] [ 0.0144721 -0.00911658 0.99985371 -0.41861981] [ 0. 0. 0. 1. ]] SLAMing on 30.66719347 meters Centerline goodness [0,1] 0.8728082148631906 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:-0.42 [[ 0.99920336 0.0372342 -0.01436152 1.27380314] [-0.03714621 0.99928969 0.00634596 0.00606323] [ 0.01458761 -0.00580742 0.99987673 -0.41894015] [ 0. 0. 0. 1. ]] SLAMing on 30.69719347 meters Centerline goodness [0,1] 0.8628887497390941 Centerline is valid? [False, False] Translation: X:1.29, Y:0.00, Z:-0.42 [[ 0.99937192 0.03438332 -0.00857582 1.2874104 ] [-0.03428657 0.99934947 0.01118377 0.00164077] [ 0.00895478 -0.01088271 0.99990068 -0.42258858] [ 0. 0. 0. 1. ]] SLAMing on 30.72719347 meters Centerline goodness [0,1] 0.8766875552004038 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.42 [[ 0.99956634 0.02825149 -0.00830588 1.28443733] [-0.02819968 0.99958252 0.00629076 -0.0077368 ] [ 0.00848013 -0.0060538 0.99994572 -0.41997653] [ 0. 0. 0. 1. ]] SLAMing on 30.75719347 meters Centerline goodness [0,1] 0.8668914814737239 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.42 [[ 0.99964382 0.02520391 -0.00877488 1.28566775] [-0.02516538 0.99967329 0.00447432 -0.0136259 ] [ 0.00888478 -0.00425191 0.99995149 -0.4206347 ] [ 0. 0. 0. 1. ]] SLAMing on 30.78719347 meters Centerline goodness [0,1] 0.8916650892800808 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.02, Z:-0.42 [[ 0.99972122 0.02180353 -0.00906037 1.2861223 ] [-0.02178519 0.99976043 0.00211702 -0.01876402] [ 0.00910436 -0.00191904 0.99995671 -0.42074543] [ 0. 0. 0. 1. ]] SLAMing on 30.81719347 meters Centerline goodness [0,1] 0.9024829376543986 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.03, Z:-0.42 [[ 0.99977121 0.0189226 -0.00997345 1.28851398] [-0.01889835 0.99981823 0.0025201 -0.02980402] [ 0.01001932 -0.00233105 0.99994709 -0.42290826] [ 0. 0. 0. 1. ]] SLAMing on 30.84719347 meters Centerline goodness [0,1] 0.9025586219903188 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.03, Z:-0.42 [[ 9.99824507e-01 1.55505972e-02 -1.04467143e-02 1.28970270e+00] [-1.55505101e-02 9.99879079e-01 8.95695038e-05 -3.43850667e-02] [ 1.04468439e-02 7.28979515e-05 9.99945428e-01 -4.23444361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877193469999998 meters Centerline goodness [0,1] 0.9008340668091706 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.04, Z:-0.42 [[ 0.99986045 0.01258576 -0.01098516 1.29130302] [-0.01260559 0.99991904 -0.00173814 -0.04051239] [ 0.01096239 0.00187638 0.99993815 -0.42429722] [ 0. 0. 0. 1. ]] SLAMing on 30.90719347 meters Centerline goodness [0,1] 0.9057910197230382 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.05, Z:-0.42 [[ 0.99991336 0.00663678 -0.01136765 1.29220505] [-0.00670124 0.99996163 -0.00564176 -0.05323403] [ 0.01132977 0.00571745 0.99991947 -0.42495751] [ 0. 0. 0. 1. ]] SLAMing on 30.93719347 meters Centerline goodness [0,1] 0.9070929280631416 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.06, Z:-0.42 [[ 0.99991465 0.00628819 -0.01145243 1.29213655] [-0.00634116 0.99996934 -0.00459421 -0.05859481] [ 0.01142319 0.00466643 0.99992386 -0.42469377] [ 0. 0. 0. 1. ]] SLAMing on 30.967193469999998 meters Centerline goodness [0,1] 0.90457477882615 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.07, Z:-0.42 [[ 0.99992631 0.00275806 -0.01182252 1.29257695] [-0.00283051 0.99997729 -0.00611562 -0.06510632] [ 0.01180538 0.00614864 0.99991141 -0.42454365] [ 0. 0. 0. 1. ]] SLAMing on 30.99719347 meters Centerline goodness [0,1] 0.9015278710543989 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.07, Z:-0.43 [[ 0.99992128 0.00276647 -0.01223836 1.29376776] [-0.00282246 0.99998562 -0.00455971 -0.07045401] [ 0.01222557 0.00459389 0.99991471 -0.42515117] [ 0. 0. 0. 1. ]] SLAMing on 31.02719347 meters Centerline goodness [0,1] 0.898704999790453 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.08, Z:-0.43 [[ 0.99991792 0.00252324 -0.01256162 1.29466892] [-0.00256453 0.99999136 -0.00327255 -0.07613886] [ 0.01255325 0.00330449 0.99991574 -0.42554423] [ 0. 0. 0. 1. ]] SLAMing on 31.057193469999998 meters Centerline goodness [0,1] 0.8984153636268234 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.08, Z:-0.43 [[ 9.99916744e-01 -8.85171476e-04 -1.28732957e-02 1.29495266e+00] [ 8.08068860e-04 9.99981713e-01 -5.99331419e-03 -7.97040637e-02] [ 1.28783654e-02 5.98241270e-03 9.99899174e-01 -4.25030994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08719347 meters Centerline goodness [0,1] 0.8980784946461874 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.09, Z:-0.42 [[ 0.9999067 -0.00486481 -0.01276404 1.29254379] [ 0.00475804 0.99995355 -0.00838219 -0.08688209] [ 0.01280422 0.00832068 0.9998834 -0.42193097] [ 0. 0. 0. 1. ]] SLAMing on 31.11719347 meters Centerline goodness [0,1] 0.894979936465474 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.09, Z:-0.42 [[ 9.99944890e-01 -7.72979542e-03 -7.10409818e-03 1.30156515e+00] [ 7.72714069e-03 9.99970065e-01 -4.01061326e-04 -9.10497253e-02] [ 7.10698564e-03 3.46144857e-04 9.99974685e-01 -4.24335273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14719347 meters Centerline goodness [0,1] 0.899745257794901 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.09, Z:-0.42 [[ 9.99941061e-01 -8.04353677e-03 -7.29224727e-03 1.30141549e+00] [ 8.04363286e-03 9.99967649e-01 -1.61523449e-05 -9.35222752e-02] [ 7.29214128e-03 -4.25047668e-05 9.99973411e-01 -4.23549023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.17719347 meters Centerline goodness [0,1] 0.897405239863235 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.10, Z:-0.42 [[ 0.99994001 -0.00780886 -0.00768137 1.30195512] [ 0.00782142 0.99996812 0.00160632 -0.09906608] [ 0.00766858 -0.0016663 0.99996921 -0.42309592] [ 0. 0. 0. 1. ]] SLAMing on 31.20719347 meters Centerline goodness [0,1] 0.900384026189327 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.10, Z:-0.42 [[ 0.99994045 -0.0076785 -0.00775432 1.30182829] [ 0.00769735 0.99996749 0.00240379 -0.10171934] [ 0.00773561 -0.00246334 0.99996705 -0.42258711] [ 0. 0. 0. 1. ]] SLAMing on 31.23719347 meters Centerline goodness [0,1] 0.8962192975102691 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.10, Z:-0.42 [[ 0.9999421 -0.00744024 -0.00777448 1.3015458 ] [ 0.00746642 0.99996654 0.0033438 -0.1043462 ] [ 0.00774934 -0.00340165 0.99996419 -0.42196866] [ 0. 0. 0. 1. ]] SLAMing on 31.26719347 meters Centerline goodness [0,1] 0.8952194670536522 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.11, Z:-0.42 [[ 0.99993991 -0.0077218 -0.00778078 1.30122628] [ 0.00775262 0.99996219 0.00393928 -0.10706895] [ 0.00775007 -0.00399936 0.99996197 -0.42139809] [ 0. 0. 0. 1. ]] SLAMing on 31.29719347 meters Centerline goodness [0,1] 0.8924083934923074 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.11, Z:-0.42 [[ 0.99993505 -0.00819217 -0.00792368 1.30178352] [ 0.00822868 0.99995563 0.00458548 -0.11052144] [ 0.00788577 -0.00465039 0.99995809 -0.42175067] [ 0. 0. 0. 1. ]] SLAMing on 31.32719347 meters Centerline goodness [0,1] 0.8864422774457377 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.11, Z:-0.42 [[ 0.99990396 -0.01086035 -0.00860911 1.3048675 ] [ 0.01088179 0.9999378 0.00244793 -0.11279823] [ 0.00858198 -0.00254138 0.99995994 -0.42382901] [ 0. 0. 0. 1. ]] SLAMing on 31.35719347 meters Centerline goodness [0,1] 0.8629271058655522 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.12, Z:-0.43 [[ 9.99850779e-01 -1.43620860e-02 -9.59946108e-03 1.30864861e+00] [ 1.43679227e-02 9.99896631e-01 5.39335618e-04 -1.17291831e-01] [ 9.59072280e-03 -6.77179453e-04 9.99953779e-01 -4.26678817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38719347 meters Centerline goodness [0,1] 0.8551774837219072 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.12, Z:-0.43 [[ 9.99845433e-01 -1.46092341e-02 -9.78162251e-03 1.30943532e+00] [ 1.46222250e-02 9.99892298e-01 1.25788709e-03 -1.20001154e-01] [ 9.76219225e-03 -1.40072175e-03 9.99951368e-01 -4.27207849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41719347 meters Centerline goodness [0,1] 0.8551774837219072 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.12, Z:-0.43 [[ 9.99845433e-01 -1.46092341e-02 -9.78162251e-03 1.30943532e+00] [ 1.46222250e-02 9.99892298e-01 1.25788709e-03 -1.20001154e-01] [ 9.76219225e-03 -1.40072175e-03 9.99951368e-01 -4.27207849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44719347 meters Centerline goodness [0,1] 0.8580387205387205 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.12, Z:-0.43 [[ 0.99984135 -0.01480376 -0.00990525 1.30942201] [ 0.01482207 0.99988857 0.00177815 -0.1221611 ] [ 0.00987782 -0.00192468 0.99994936 -0.42676436] [ 0. 0. 0. 1. ]] SLAMing on 31.47719347 meters Centerline goodness [0,1] 0.8374984249653492 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.12, Z:-0.43 [[ 0.99982774 -0.01566405 -0.00995668 1.30873948] [ 0.01568146 0.99987564 0.00167322 -0.1237164 ] [ 0.00992923 -0.00182907 0.99994903 -0.42539614] [ 0. 0. 0. 1. ]] SLAMing on 31.50719347 meters Centerline goodness [0,1] 0.8447852632020645 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.12, Z:-0.43 [[ 0.99982475 -0.01576356 -0.0100984 1.30906211] [ 0.0157778 0.99987463 0.00133282 -0.12201343] [ 0.01007613 -0.00149191 0.99994812 -0.4253454 ] [ 0. 0. 0. 1. ]] SLAMing on 31.53719347 meters Centerline goodness [0,1] 0.8593918390634575 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.12, Z:-0.42 [[ 0.99987529 -0.01215246 -0.01008598 1.30824624] [ 0.01219298 0.9999178 0.00396543 -0.11500614] [ 0.01003696 -0.00408792 0.99994127 -0.42442374] [ 0. 0. 0. 1. ]] SLAMing on 31.56719347 meters Centerline goodness [0,1] 0.8666164438027079 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.11, Z:-0.43 [[ 9.99962878e-01 -7.21421983e-03 -4.71137800e-03 1.31756114e+00] [ 7.21159323e-03 9.99973831e-01 -5.74253433e-04 -1.11291402e-01] [ 4.71539750e-03 5.40255574e-04 9.99988737e-01 -4.26706430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59719347 meters Centerline goodness [0,1] 0.8765843336894811 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.11, Z:-0.43 [[ 0.99998111 -0.00385067 -0.00479003 1.31733042] [ 0.00386181 0.99998986 0.00231783 -0.10930705] [ 0.00478106 -0.00233628 0.99998584 -0.42616829] [ 0. 0. 0. 1. ]] SLAMing on 31.627193469999998 meters Centerline goodness [0,1] 0.8907386828255719 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.11, Z:-0.43 [[ 0.99998178 -0.00366941 -0.00479309 1.31744324] [ 0.00367648 0.99999216 0.00146795 -0.1063221 ] [ 0.00478766 -0.00148554 0.99998744 -0.42615885] [ 0. 0. 0. 1. ]] SLAMing on 31.65719347 meters Centerline goodness [0,1] 0.8950495465233457 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.10, Z:-0.43 [[ 0.99998683 -0.00147325 -0.00491694 1.31853367] [ 0.00148253 0.99999713 0.00188344 -0.09782209] [ 0.00491415 -0.00189071 0.99998614 -0.42720732] [ 0. 0. 0. 1. ]] SLAMing on 31.68719347 meters Centerline goodness [0,1] 0.8955324719196014 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.09, Z:-0.43 [[ 9.99986733e-01 8.32341771e-04 -5.08349721e-03 1.31952219e+00] [-8.14208011e-04 9.99993302e-01 3.56821042e-03 -9.21512682e-02] [ 5.08643313e-03 -3.56402406e-03 9.99980713e-01 -4.28075316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717193469999998 meters Centerline goodness [0,1] 0.8945538332635107 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.09, Z:-0.43 [[ 9.99993113e-01 3.61331530e-03 -8.47868479e-04 1.32983863e+00] [-3.61566951e-03 9.99989567e-01 -2.79171591e-03 -8.58044932e-02] [ 8.37772283e-04 2.79476230e-03 9.99995744e-01 -4.31051237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74719347 meters Centerline goodness [0,1] 0.8808073594892044 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.43 [[ 9.99996752e-01 2.36350111e-03 -9.53750905e-04 1.33005070e+00] [-2.36827139e-03 9.99984536e-01 -5.03185981e-03 -7.97416324e-02] [ 9.41843350e-04 5.03410221e-03 9.99986885e-01 -4.30946075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77719347 meters Centerline goodness [0,1] 0.8847896304375183 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.43 [[ 9.99997763e-01 1.78191016e-03 -1.13923578e-03 1.33076910e+00] [-1.78830774e-03 9.99982499e-01 -5.63954112e-03 -7.87576084e-02] [ 1.12916668e-03 5.64156581e-03 9.99983449e-01 -4.31441617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807193469999998 meters Centerline goodness [0,1] 0.8727036594817654 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.43 [[ 9.99998287e-01 1.10871733e-03 -1.48193131e-03 1.33182918e+00] [-1.11789602e-03 9.99980110e-01 -6.20732382e-03 -7.78976859e-02] [ 1.47501967e-03 6.20896984e-03 9.99979636e-01 -4.32039675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83719347 meters Centerline goodness [0,1] 0.8529918118832669 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:-0.43 [[ 9.99998437e-01 -2.27417742e-04 -1.75364525e-03 1.33308717e+00] [ 2.13449832e-04 9.99968287e-01 -7.96114919e-03 -7.15523486e-02] [ 1.75540014e-03 7.96076243e-03 9.99966772e-01 -4.32860752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86719347 meters Centerline goodness [0,1] 0.8480718015392036 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:-0.43 [[ 0.9999944 0.00275209 -0.00190526 1.33340926] [-0.00276188 0.99998291 -0.00515296 -0.0684095 ] [ 0.00189105 0.0051582 0.99998491 -0.43280474] [ 0. 0. 0. 1. ]] SLAMing on 31.89719347 meters Centerline goodness [0,1] 0.8598066153491202 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:-0.43 [[ 0.99998148 0.00576995 -0.00193633 1.33313837] [-0.00577493 0.99998001 -0.00257297 -0.06519593] [ 0.00192145 0.00258411 0.99999482 -0.43223278] [ 0. 0. 0. 1. ]] SLAMing on 31.92719347 meters Centerline goodness [0,1] 0.8704282686698701 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.43 [[ 0.99998226 0.0055796 -0.00208366 1.33332196] [-0.00558765 0.99997687 -0.00387713 -0.06105631] [ 0.00206197 0.00388871 0.99999031 -0.43181131] [ 0. 0. 0. 1. ]] SLAMing on 31.95719347 meters Centerline goodness [0,1] 0.8838559570721891 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.43 [[ 0.99998182 0.00565148 -0.00210277 1.33342024] [-0.00566339 0.9999677 -0.00570269 -0.05509401] [ 0.00207048 0.0057145 0.99998153 -0.43126687] [ 0. 0. 0. 1. ]] SLAMing on 31.98719347 meters Centerline goodness [0,1] 0.8938722074411927 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.43 [[ 0.99996712 0.00790688 -0.00180229 1.33209053] [-0.00791379 0.99996124 -0.00385846 -0.05136529] [ 0.00177171 0.0038726 0.99999093 -0.43020786] [ 0. 0. 0. 1. ]] SLAMing on 32.017193469999995 meters Centerline goodness [0,1] 0.8881686595342984 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.43 [[ 0.9999473 0.01007643 -0.00196629 1.33238008] [-0.01008072 0.9999468 -0.00218658 -0.0458522 ] [ 0.00194415 0.00220629 0.99999568 -0.42993729] [ 0. 0. 0. 1. ]] SLAMing on 32.047193469999996 meters Centerline goodness [0,1] 0.8692740253996335 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.03, Z:-0.43 [[ 9.99948874e-01 1.00911798e-02 -6.45902999e-04 1.32766432e+00] [-1.00923084e-02 9.99947507e-01 -1.76866992e-03 -3.27860967e-02] [ 6.28021128e-04 1.77509815e-03 9.99998227e-01 -4.27820911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07719347 meters Centerline goodness [0,1] 0.8621907384440755 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.03, Z:-0.43 [[ 9.99956990e-01 9.23016541e-03 -9.06842141e-04 1.32824976e+00] [-9.23318197e-03 9.99951659e-01 -3.38056204e-03 -2.82867034e-02] [ 8.75595156e-04 3.38878968e-03 9.99993875e-01 -4.27804507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10719347 meters Centerline goodness [0,1] 0.8686489789897373 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.03, Z:-0.43 [[ 9.99964058e-01 8.42748402e-03 -9.27033443e-04 1.32850660e+00] [-8.43173533e-03 9.99953492e-01 -4.68182067e-03 -2.56241012e-02] [ 8.87534359e-04 4.68946890e-03 9.99988611e-01 -4.28054730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13719346999999 meters Centerline goodness [0,1] 0.8395550527903469 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.02, Z:-0.43 [[ 9.99974299e-01 7.06144367e-03 -1.23958684e-03 1.33054837e+00] [-7.06951454e-03 9.99953018e-01 -6.63200184e-03 -2.25025085e-02] [ 1.19269710e-03 6.64059467e-03 9.99977240e-01 -4.29784996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167193469999994 meters Centerline goodness [0,1] 0.8673325918620024 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.01, Z:-0.43 [[ 9.99965436e-01 8.25051978e-03 -1.02773605e-03 1.33110682e+00] [-8.25718009e-03 9.99943768e-01 -6.65428439e-03 -1.37211850e-02] [ 9.72776954e-04 6.66254059e-03 9.99977332e-01 -4.30659141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.197193469999995 meters Centerline goodness [0,1] 0.8661188980183664 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.01, Z:-0.43 [[ 9.99942812e-01 1.06139127e-02 -1.31032980e-03 1.33233143e+00] [-1.06205070e-02 9.99930428e-01 -5.13264072e-03 -7.77056391e-03] [ 1.25576124e-03 5.14626356e-03 9.99985969e-01 -4.31239725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.227193469999996 meters Centerline goodness [0,1] 0.8738017837792782 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.00, Z:-0.43 [[ 0.99989927 0.01407861 -0.00179997 1.33495307] [-0.01408332 0.99989736 -0.00263127 -0.00163215] [ 0.00176274 0.00265635 0.99999492 -0.43294958] [ 0. 0. 0. 1. ]] SLAMing on 32.25719347 meters Centerline goodness [0,1] 0.8880754669622875 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.43 [[ 0.99977264 0.02122444 -0.00204587 1.33702348] [-0.02121962 0.99977207 0.00235121 0.01042955] [ 0.00209531 -0.00230726 0.99999514 -0.43409413] [ 0. 0. 0. 1. ]] SLAMing on 32.28719347 meters Centerline goodness [0,1] 0.8956229663062873 Centerline is valid? [False, False] Translation: X:1.34, Y:0.02, Z:-0.43 [[ 0.99969961 0.02442044 -0.00207965 1.33709639] [-0.02441104 0.99969218 0.00443192 0.0157992 ] [ 0.00218724 -0.00437983 0.99998802 -0.43362288] [ 0. 0. 0. 1. ]] SLAMing on 32.31719347 meters Centerline goodness [0,1] 0.9008075030491651 Centerline is valid? [False, False] Translation: X:1.34, Y:0.02, Z:-0.43 [[ 0.99969971 0.02441514 -0.00209723 1.3371162 ] [-0.0244096 0.99969859 0.00262673 0.02225563] [ 0.00216073 -0.00257474 0.99999435 -0.43289633] [ 0. 0. 0. 1. ]] SLAMing on 32.34719346999999 meters Centerline goodness [0,1] 0.9031180400890868 Centerline is valid? [False, False] Translation: X:1.34, Y:0.03, Z:-0.43 [[ 9.99703070e-01 2.42622303e-02 -2.26165335e-03 1.33743569e+00] [-2.42602428e-02 9.99705270e-01 9.02103972e-04 2.77612124e-02] [ 2.28287383e-03 -8.46967852e-04 9.99997036e-01 -4.32361787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.377193469999995 meters Centerline goodness [0,1] 0.9115943245739233 Centerline is valid? [False, False] Translation: X:1.34, Y:0.03, Z:-0.43 [[ 0.99962304 0.02737037 -0.00215397 1.33724408] [-0.02736605 0.99962346 0.00200996 0.03492558] [ 0.00220818 -0.00195025 0.99999566 -0.43138957] [ 0. 0. 0. 1. ]] SLAMing on 32.407193469999996 meters Centerline goodness [0,1] 0.9115292737102385 Centerline is valid? [False, False] Translation: X:1.34, Y:0.04, Z:-0.43 [[ 9.99628919e-01 2.71488182e-02 -2.22855644e-03 1.33727128e+00] [-2.71475810e-02 9.99631266e-01 5.83513839e-04 3.96586345e-02] [ 2.24357640e-03 -5.22797391e-04 9.99997347e-01 -4.30775899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43719347 meters Centerline goodness [0,1] 0.9143532562080291 Centerline is valid? [False, False] Translation: X:1.34, Y:0.04, Z:-0.43 [[ 9.99636445e-01 2.68689012e-02 -2.24504064e-03 1.33699830e+00] [-2.68707496e-02 9.99638598e-01 -7.97227040e-04 4.44948303e-02] [ 2.22280866e-03 8.57263129e-04 9.99997162e-01 -4.29822296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46719347 meters Centerline goodness [0,1] 0.9129857540251202 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.43 [[ 0.99953701 0.03035697 -0.00205564 1.33687324] [-0.03035384 0.99953803 0.00153857 0.05073306] [ 0.0021014 -0.00147546 0.9999967 -0.42943593] [ 0. 0. 0. 1. ]] SLAMing on 32.49719347 meters Centerline goodness [0,1] 0.9120230923694779 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.43 [[ 0.99949572 0.03163827 -0.00270667 1.3401595 ] [-0.03163224 0.99949706 0.0022425 0.05219341] [ 0.00277626 -0.00215575 0.99999382 -0.43185204] [ 0. 0. 0. 1. ]] SLAMing on 32.52719346999999 meters Centerline goodness [0,1] 0.9103542520761063 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.43 [[ 0.99945622 0.03283017 -0.00307445 1.34252712] [-0.03282157 0.99945728 0.0028084 0.05268018] [ 0.00316499 -0.00270597 0.99999133 -0.43387382] [ 0. 0. 0. 1. ]] SLAMing on 32.557193469999994 meters Centerline goodness [0,1] 0.912545768275746 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.44 [[ 0.9994142 0.03405102 -0.0034333 1.34475905] [-0.03403938 0.99941473 0.00339405 0.05305191] [ 0.00354686 -0.00327519 0.99998835 -0.43569015] [ 0. 0. 0. 1. ]] SLAMing on 32.587193469999995 meters Centerline goodness [0,1] 0.9121901043306674 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.44 [[ 0.99923178 0.03906797 -0.00308808 1.34499366] [-0.03904289 0.99920706 0.00780383 0.05268272] [ 0.00339051 -0.00767727 0.99996478 -0.43612469] [ 0. 0. 0. 1. ]] SLAMing on 32.61719347 meters Centerline goodness [0,1] 0.9099021542854743 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.44 [[ 0.99921284 0.03954804 -0.00310821 1.34459373] [-0.03952285 0.99918833 0.00778599 0.05340907] [ 0.00341361 -0.00765702 0.99996486 -0.43520997] [ 0. 0. 0. 1. ]] SLAMing on 32.64719347 meters Centerline goodness [0,1] 0.9128762401210695 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.43 [[ 0.99920157 0.03983229 -0.00310138 1.34389625] [-0.03980688 0.99917645 0.00786399 0.05343387] [ 0.00341206 -0.00773425 0.99996427 -0.43398225] [ 0. 0. 0. 1. ]] SLAMing on 32.67719347 meters Centerline goodness [0,1] 0.9135662097572274 Centerline is valid? [False, False] Translation: X:1.34, Y:0.05, Z:-0.43 [[ 0.99931892 0.03675378 -0.00329583 1.34338476] [-0.03673966 0.99931584 0.00424956 0.05374772] [ 0.00344976 -0.00412558 0.99998554 -0.43264345] [ 0. 0. 0. 1. ]] SLAMing on 32.70719346999999 meters Centerline goodness [0,1] 0.9135541411942049 Centerline is valid? [False, False] Translation: X:1.35, Y:0.05, Z:-0.44 [[ 0.99949764 0.03149384 0.00354969 1.35318295] [-0.03152295 0.99946717 0.0084669 0.04657982] [-0.00328115 -0.00857454 0.99995785 -0.43514373] [ 0. 0. 0. 1. ]] SLAMing on 32.737193469999994 meters Centerline goodness [0,1] 0.912979132751221 Centerline is valid? [False, False] Translation: X:1.35, Y:0.04, Z:-0.44 [[ 0.99960492 0.02791016 0.00332212 1.35343523] [-0.02792801 0.99959506 0.0054542 0.04348006] [-0.00316855 -0.00554483 0.99997961 -0.43526231] [ 0. 0. 0. 1. ]] SLAMing on 32.767193469999995 meters Centerline goodness [0,1] 0.9123943721037512 Centerline is valid? [False, False] Translation: X:1.36, Y:0.04, Z:-0.44 [[ 0.99968487 0.02495678 0.00270485 1.35564541] [-0.0249652 0.99968343 0.00312642 0.03986344] [-0.00262597 -0.00319296 0.99999145 -0.43692124] [ 0. 0. 0. 1. ]] SLAMing on 32.797193469999996 meters Centerline goodness [0,1] 0.9105079733868413 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.44 [[ 0.99974295 0.02254876 0.00236306 1.3575738 ] [-0.02255289 0.99974414 0.00173935 0.03292545] [-0.00232324 -0.00179219 0.9999957 -0.43896386] [ 0. 0. 0. 1. ]] SLAMing on 32.82719347 meters Centerline goodness [0,1] 0.9108099523557438 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.44 [[ 9.99800091e-01 1.98730680e-02 2.19993352e-03 1.35815682e+00] [-1.98702321e-02 9.99801718e-01 -1.30350817e-03 3.16812297e-02] [-2.22540202e-03 1.25953440e-03 9.99996731e-01 -4.39220855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85719347 meters Centerline goodness [0,1] 0.908093972752963 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.44 [[ 0.99983195 0.01827226 0.00148141 1.36080354] [-0.01826771 0.99982856 -0.00302474 0.02943952] [-0.00153643 0.00299717 0.99999433 -0.44085913] [ 0. 0. 0. 1. ]] SLAMing on 32.88719346999999 meters Centerline goodness [0,1] 0.9054506410661277 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.44 [[ 9.99864607e-01 1.64420129e-02 6.54535538e-04 1.36350280e+00] [-1.64387554e-02 9.99853806e-01 -4.70476067e-03 2.64067161e-02] [-7.31795584e-04 4.69336393e-03 9.99988718e-01 -4.42423064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.917193469999994 meters Centerline goodness [0,1] 0.9038935851761283 Centerline is valid? [False, False] Translation: X:1.37, Y:0.02, Z:-0.44 [[ 9.99893087e-01 1.46219148e-02 -1.20144220e-04 1.36595505e+00] [-1.46223406e-02 9.99879721e-01 -5.17021534e-03 1.86249762e-02] [ 4.45313207e-05 5.17141937e-03 9.99986627e-01 -4.44136394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947193469999995 meters Centerline goodness [0,1] 0.9047447727080336 Centerline is valid? [False, False] Translation: X:1.37, Y:0.02, Z:-0.44 [[ 9.99891103e-01 1.47542811e-02 -3.06567286e-04 1.36618673e+00] [-1.47554299e-02 9.99882469e-01 -4.16229921e-03 1.52183844e-02] [ 2.45119522e-04 4.16636948e-03 9.99991291e-01 -4.44135337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.977193469999996 meters Centerline goodness [0,1] 0.9043377796449953 Centerline is valid? [False, False] Translation: X:1.37, Y:0.01, Z:-0.44 [[ 9.99888324e-01 1.49329427e-02 -5.88738825e-04 1.36652842e+00] [-1.49346445e-02 9.99883969e-01 -3.00078861e-03 1.14159573e-02] [ 5.43859909e-04 3.00924610e-03 9.99995324e-01 -4.43998313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00719347 meters Centerline goodness [0,1] 0.90444921496822 Centerline is valid? [False, False] Translation: X:1.37, Y:0.01, Z:-0.44 [[ 9.99925707e-01 1.21648761e-02 -7.71940313e-04 1.36613864e+00] [-1.21687962e-02 9.99911939e-01 -5.29478019e-03 7.68596659e-03] [ 7.07461990e-04 5.30378041e-03 9.99985685e-01 -4.43156265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03719347 meters Centerline goodness [0,1] 0.9035039750978 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.00, Z:-0.44 [[ 9.99966971e-01 8.05503553e-03 -1.08363695e-03 1.36736276e+00] [-8.06403916e-03 9.99930691e-01 -8.57811765e-03 -3.27136442e-03] [ 1.01446480e-03 8.58657281e-03 9.99962620e-01 -4.44024635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06719347 meters Centerline goodness [0,1] 0.9015153107332758 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.01, Z:-0.45 [[ 0.9999797 0.0061345 -0.00172331 1.37049437] [-0.00615149 0.9999308 -0.01002787 -0.0075731 ] [ 0.00166167 0.01003827 0.99994823 -0.44663112] [ 0. 0. 0. 1. ]] SLAMing on 33.09719346999999 meters Centerline goodness [0,1] 0.9036341534979251 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.01, Z:-0.45 [[ 0.99997323 0.0069972 -0.00214134 1.37253706] [-0.0070146 0.99994151 -0.00823182 -0.01198716] [ 0.00208361 0.00824662 0.99996383 -0.44847618] [ 0. 0. 0. 1. ]] SLAMing on 33.127193469999995 meters Centerline goodness [0,1] 0.9000105008925758 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:-0.45 [[ 0.99996262 0.00833858 -0.00228739 1.37361922] [-0.00835207 0.99994742 -0.00594923 -0.01682279] [ 0.00223766 0.00596811 0.99997969 -0.44955872] [ 0. 0. 0. 1. ]] SLAMing on 33.157193469999996 meters Centerline goodness [0,1] 0.9010703043022036 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:-0.45 [[ 0.99995571 0.00905043 -0.00258264 1.37422277] [-0.00906273 0.99994745 -0.00479173 -0.02003176] [ 0.00253913 0.00481492 0.99998518 -0.44964525] [ 0. 0. 0. 1. ]] SLAMing on 33.18719347 meters Centerline goodness [0,1] 0.8985906604964241 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.02, Z:-0.45 [[ 0.99995807 0.00886043 -0.00231133 1.37267793] [-0.00887068 0.99995071 -0.00445998 -0.02428109] [ 0.0022717 0.00448029 0.99998738 -0.44837339] [ 0. 0. 0. 1. ]] SLAMing on 33.21719347 meters Centerline goodness [0,1] 0.8973585383349508 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:-0.45 [[ 0.99996878 0.00769019 -0.00181416 1.37085739] [-0.00769964 0.99995649 -0.00526572 -0.02913983] [ 0.00177359 0.00527953 0.99998449 -0.44720187] [ 0. 0. 0. 1. ]] SLAMing on 33.24719347 meters Centerline goodness [0,1] 0.9014326407506702 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:-0.45 [[ 9.99991752e-01 2.02385239e-03 3.52124318e-03 1.38191948e+00] [-2.02372909e-03 9.99997952e-01 -3.85787374e-05 -3.97270981e-02] [-3.52131405e-03 3.14523770e-05 9.99993800e-01 -4.50404189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27719346999999 meters Centerline goodness [0,1] 0.9021723129981284 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:-0.45 [[ 0.99999218 -0.00198595 0.00341942 1.38153308] [ 0.00199491 0.99999458 -0.00261903 -0.04467846] [-0.0034142 0.00262583 0.99999072 -0.44959354] [ 0. 0. 0. 1. ]] SLAMing on 33.307193469999994 meters Centerline goodness [0,1] 0.9021723129981284 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:-0.45 [[ 0.99999218 -0.00198595 0.00341942 1.38153308] [ 0.00199491 0.99999458 -0.00261903 -0.04467846] [-0.0034142 0.00262583 0.99999072 -0.44959354] [ 0. 0. 0. 1. ]] SLAMing on 33.337193469999995 meters Centerline goodness [0,1] 0.9005503970421411 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:-0.45 [[ 0.99997362 -0.00650248 0.003237 1.38153458] [ 0.00651892 0.99996577 -0.00509486 -0.05076491] [-0.00320376 0.00511582 0.99998178 -0.44908826] [ 0. 0. 0. 1. ]] SLAMing on 33.36719347 meters Centerline goodness [0,1] 0.8988295889952053 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:-0.45 [[ 0.99974437 -0.02235684 0.00337163 1.38384862] [ 0.02237151 0.99974014 -0.00437705 -0.06484244] [-0.0032729 0.00445136 0.99998474 -0.44564048] [ 0. 0. 0. 1. ]] SLAMing on 33.39719347 meters Centerline goodness [0,1] 0.891658817373103 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:-0.44 [[ 0.99963209 -0.02688215 0.00361065 1.38278012] [ 0.02690873 0.99960956 -0.00752677 -0.06908348] [-0.00340691 0.00762116 0.99996515 -0.44431101] [ 0. 0. 0. 1. ]] SLAMing on 33.42719347 meters Centerline goodness [0,1] 0.8732423836625377 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:-0.44 [[ 0.99950997 -0.03107591 0.00375721 1.38227028] [ 0.03111446 0.99945878 -0.01067879 -0.07243943] [-0.00342332 0.01079046 0.99993592 -0.44352521] [ 0. 0. 0. 1. ]] SLAMing on 33.45719346999999 meters Centerline goodness [0,1] 0.8313293323017085 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.08, Z:-0.44 [[ 0.99919967 -0.03978744 0.00412158 1.3816713 ] [ 0.03985537 0.9990438 -0.01797295 -0.07688934] [-0.00340254 0.01812283 0.99982998 -0.44273879] [ 0. 0. 0. 1. ]] SLAMing on 33.487193469999994 meters Centerline goodness [0,1] 0.8135199111800071 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.08, Z:-0.44 [[ 0.9991885 -0.04006843 0.00410687 1.38199166] [ 0.04013452 0.99904063 -0.01752241 -0.07926437] [-0.00340083 0.01767302 0.99983804 -0.44313001] [ 0. 0. 0. 1. ]] SLAMing on 33.517193469999995 meters Centerline goodness [0,1] 0.8264126397952118 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.08, Z:-0.44 [[ 0.99930825 -0.03698281 0.00391054 1.38274881] [ 0.03703308 0.99922047 -0.01367521 -0.08151985] [-0.00340174 0.01381057 0.99989884 -0.44395979] [ 0. 0. 0. 1. ]] SLAMing on 33.547193469999996 meters Centerline goodness [0,1] 0.8218587205667848 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:-0.45 [[ 0.99935492 -0.03576496 0.00325863 1.38565268] [ 0.0358037 0.99927779 -0.01272734 -0.08081407] [-0.00280109 0.0128358 0.99991369 -0.4461648 ] [ 0. 0. 0. 1. ]] SLAMing on 33.57719347 meters Centerline goodness [0,1] 0.8456222645697653 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:-0.45 [[ 0.99958724 -0.02858406 0.00288034 1.38665396] [ 0.02860111 0.99957251 -0.00606371 -0.07723932] [-0.00270578 0.00614359 0.99997747 -0.44717219] [ 0. 0. 0. 1. ]] SLAMing on 33.60719347 meters Centerline goodness [0,1] 0.8627138877835256 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.07, Z:-0.45 [[ 0.99971189 -0.02389267 0.00229899 1.38887452] [ 0.02389685 0.99971279 -0.00181124 -0.07476872] [-0.00225505 0.00186565 0.99999572 -0.44884952] [ 0. 0. 0. 1. ]] SLAMing on 33.63719346999999 meters Centerline goodness [0,1] 0.8805870301459213 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.07, Z:-0.45 [[ 0.9998172 -0.01905188 0.00160841 1.39157948] [ 0.01904803 0.99981575 0.00237645 -0.07163891] [-0.00165339 -0.00234537 0.99999588 -0.45078095] [ 0. 0. 0. 1. ]] SLAMing on 33.667193469999994 meters Centerline goodness [0,1] 0.8886799155747811 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.06, Z:-0.45 [[ 9.99956937e-01 -9.21699803e-03 1.08241135e-03 1.39358633e+00] [ 9.20478520e-03 9.99899392e-01 1.07924904e-02 -6.35918228e-02] [-1.18177682e-03 -1.07820622e-02 9.99941174e-01 -4.52292564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.697193469999995 meters Centerline goodness [0,1] 0.8884953897736798 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.06, Z:-0.45 [[ 9.99983822e-01 -5.61343246e-03 9.19187191e-04 1.39396402e+00] [ 5.60047311e-03 9.99892625e-01 1.35415412e-02 -6.01247685e-02] [-9.95103020e-04 -1.35361742e-02 9.99907887e-01 -4.52363204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727193469999996 meters Centerline goodness [0,1] 0.8859601029058243 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:-0.45 [[ 9.99994478e-01 -5.64991669e-04 -3.27485501e-03 1.39054791e+00] [ 5.72493582e-04 9.99997213e-01 2.29027740e-03 -5.47739484e-02] [ 3.27355190e-03 -2.29213959e-03 9.99992015e-01 -4.50726984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75719347 meters Centerline goodness [0,1] 0.8864132259147365 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:-0.45 [[ 9.99991792e-01 1.11930013e-03 -3.89399301e-03 1.39380005e+00] [-1.10789619e-03 9.99995095e-01 2.92952400e-03 -5.18022590e-02] [ 3.89725293e-03 -2.92518582e-03 9.99988127e-01 -4.53194389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78719347 meters Centerline goodness [0,1] 0.8845372484135129 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.04, Z:-0.45 [[ 0.99996053 0.00787643 -0.0041105 1.39589193] [-0.00784254 0.99993566 0.00819559 -0.04404404] [ 0.00417478 -0.00816303 0.99995797 -0.4549708 ] [ 0. 0. 0. 1. ]] SLAMing on 33.81719347 meters Centerline goodness [0,1] 0.8839629753727593 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.04, Z:-0.45 [[ 0.99992568 0.01143684 -0.0042234 1.39631117] [-0.01138941 0.99987364 0.01108987 -0.04003781] [ 0.0043497 -0.01104094 0.99992959 -0.4549698 ] [ 0. 0. 0. 1. ]] SLAMing on 33.84719346999999 meters Centerline goodness [0,1] 0.8834055377660577 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.04, Z:-0.46 [[ 0.9998783 0.01496572 -0.00440606 1.39694884] [-0.01490182 0.99978819 0.01419512 -0.03717946] [ 0.00461756 -0.01412774 0.99988954 -0.45512636] [ 0. 0. 0. 1. ]] SLAMing on 33.877193469999995 meters Centerline goodness [0,1] 0.8848258233517122 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.03, Z:-0.46 [[ 0.99987007 0.0154339 -0.00465147 1.39774513] [-0.01536881 0.99978778 0.01371873 -0.03434545] [ 0.00486221 -0.01364546 0.99989507 -0.45537108] [ 0. 0. 0. 1. ]] SLAMing on 33.907193469999996 meters Centerline goodness [0,1] 0.8854262914741705 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:-0.45 [[ 0.99976269 0.02023936 -0.0080585 1.40572122] [-0.02014456 0.99972889 0.01167627 -0.03328129] [ 0.00829264 -0.01151116 0.99989936 -0.45252515] [ 0. 0. 0. 1. ]] SLAMing on 33.93719347 meters Centerline goodness [0,1] 0.8859858977587509 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:-0.45 [[ 0.99974902 0.0208523 -0.00819007 1.40661463] [-0.02075679 0.99971751 0.01157815 -0.03236509] [ 0.00842919 -0.01140525 0.99989943 -0.45318082] [ 0. 0. 0. 1. ]] SLAMing on 33.96719347 meters Centerline goodness [0,1] 0.8799260566338963 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:-0.45 [[ 0.99963741 0.02569024 -0.00806642 1.40715381] [-0.02555909 0.99954589 0.01596093 -0.0323123 ] [ 0.0084728 -0.01574897 0.99984008 -0.4537774 ] [ 0. 0. 0. 1. ]] SLAMing on 33.99719347 meters Centerline goodness [0,1] 0.8750210260723297 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:-0.45 [[ 0.99962435 0.02616955 -0.0081438 1.40712008] [-0.02603514 0.99952984 0.01619471 -0.03201793] [ 0.00856378 -0.0159766 0.99983569 -0.45331877] [ 0. 0. 0. 1. ]] SLAMing on 34.02719346999999 meters Centerline goodness [0,1] 0.8747610545110808 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:-0.45 [[ 0.99968718 0.02363456 -0.008182 1.40701508] [-0.02352631 0.99963761 0.01308282 -0.03145774] [ 0.00848824 -0.01288624 0.99988094 -0.45283075] [ 0. 0. 0. 1. ]] SLAMing on 34.057193469999994 meters Centerline goodness [0,1] 0.87055895945296 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.03, Z:-0.45 [[ 0.99975238 0.02055128 -0.00853323 1.40756759] [-0.02046641 0.99974135 0.00991732 -0.03279808] [ 0.00873484 -0.00974022 0.99991441 -0.45257067] [ 0. 0. 0. 1. ]] SLAMing on 34.087193469999995 meters Centerline goodness [0,1] 0.8816833970347348 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:-0.45 [[ 0.99981326 0.0172199 -0.00877028 1.40760356] [-0.01715994 0.99982917 0.00686731 -0.03544209] [ 0.00888704 -0.00671553 0.99993796 -0.45201673] [ 0. 0. 0. 1. ]] SLAMing on 34.11719347 meters Centerline goodness [0,1] 0.8879828506578118 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:-0.45 [[ 0.99989428 0.01157286 -0.0088029 1.40689359] [-0.0115519 0.99993033 0.00242836 -0.0447592 ] [ 0.00883039 -0.00232641 0.99995831 -0.45098369] [ 0. 0. 0. 1. ]] SLAMing on 34.14719347 meters Centerline goodness [0,1] 0.8893373204240814 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.05, Z:-0.45 [[ 0.9999734 0.00657069 -0.00316743 1.41817119] [-0.00654753 0.99995216 0.00726624 -0.05170501] [ 0.00321503 -0.00724531 0.99996858 -0.45451354] [ 0. 0. 0. 1. ]] SLAMing on 34.17719347 meters Centerline goodness [0,1] 0.8921597446772771 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:-0.45 [[ 0.99998911 0.00334248 -0.00325614 1.41837314] [-0.00332599 0.99998169 0.00505556 -0.05792008] [ 0.00327298 -0.00504467 0.99998192 -0.45449756] [ 0. 0. 0. 1. ]] SLAMing on 34.20719346999999 meters Centerline goodness [0,1] 0.8936602745467882 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.07, Z:-0.45 [[ 9.99993504e-01 -6.23999276e-04 -3.54988595e-03 1.41959749e+00] [ 6.33976363e-04 9.99995851e-01 2.81010682e-03 -7.03602734e-02] [ 3.54811772e-03 -2.81233911e-03 9.99989751e-01 -4.54919052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.237193469999994 meters Centerline goodness [0,1] 0.8950963956412405 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.08, Z:-0.46 [[ 9.99988701e-01 -2.99722269e-03 -3.68984603e-03 1.42025199e+00] [ 3.00160202e-03 9.99994797e-01 1.18189495e-03 -7.52469002e-02] [ 3.68628442e-03 -1.19295704e-03 9.99992494e-01 -4.55184029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267193469999995 meters Centerline goodness [0,1] 0.8943079158506538 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.08, Z:-0.45 [[ 0.99998785 -0.00354724 -0.00342226 1.41899697] [ 0.00355267 0.99999244 0.00158189 -0.08121555] [ 0.00341662 -0.00159403 0.99999289 -0.45409059] [ 0. 0. 0. 1. ]] SLAMing on 34.297193469999996 meters Centerline goodness [0,1] 0.8953478625314334 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.09, Z:-0.45 [[ 9.99962134e-01 -7.95317824e-03 -3.53243646e-03 1.41971647e+00] [ 7.94925670e-03 9.99967774e-01 -1.12280885e-03 -9.27076439e-02] [ 3.54125252e-03 1.09468608e-03 9.99993131e-01 -4.54364833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32719347 meters Centerline goodness [0,1] 0.8953913679590344 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.10, Z:-0.46 [[ 0.99993897 -0.01037118 -0.00380653 1.42115392] [ 0.01036199 0.99994337 -0.0024275 -0.09972882] [ 0.00383149 0.00238791 0.99998981 -0.45532432] [ 0. 0. 0. 1. ]] SLAMing on 34.35719347 meters Centerline goodness [0,1] 0.8944209777926477 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:-0.46 [[ 0.99990825 -0.01293441 -0.00402362 1.42215129] [ 0.01291892 0.99990913 -0.00385188 -0.10649416] [ 0.00407307 0.00379954 0.99998449 -0.45581434] [ 0. 0. 0. 1. ]] SLAMing on 34.38719346999999 meters Centerline goodness [0,1] 0.8945705617742442 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:-0.46 [[ 0.99986934 -0.01559599 -0.0042517 1.42353378] [ 0.01557337 0.99986468 -0.00530069 -0.11292204] [ 0.00433379 0.00523379 0.99997691 -0.45681939] [ 0. 0. 0. 1. ]] SLAMing on 34.417193469999994 meters Centerline goodness [0,1] 0.8958004420587307 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:-0.46 [[ 0.99981683 -0.01859377 -0.00453643 1.42479257] [ 0.01856191 0.99980344 -0.00696697 -0.11886674] [ 0.00466508 0.00688149 0.99996544 -0.45753777] [ 0. 0. 0. 1. ]] SLAMing on 34.447193469999995 meters Centerline goodness [0,1] 0.8974991120489731 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.13, Z:-0.46 [[ 9.99581687e-01 -2.77745675e-02 -8.06371901e-03 1.43304293e+00] [ 2.77641432e-02 9.99613519e-01 -1.40183688e-03 -1.31727660e-01] [ 8.09953794e-03 1.17736823e-03 9.99966505e-01 -4.55265074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.477193469999996 meters Centerline goodness [0,1] 0.8989471921635934 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.14, Z:-0.46 [[ 0.99947657 -0.03127937 -0.00825695 1.43428167] [ 0.03125047 0.99950508 -0.00360615 -0.13649955] [ 0.00836566 0.00334623 0.99995941 -0.45595167] [ 0. 0. 0. 1. ]] SLAMing on 34.50719347 meters Centerline goodness [0,1] 0.8972557033824081 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.14, Z:-0.46 [[ 0.99935934 -0.03478177 -0.00843467 1.43536927] [ 0.03473131 0.99937834 -0.00605621 -0.14099185] [ 0.00864007 0.00575938 0.99994609 -0.45646168] [ 0. 0. 0. 1. ]] SLAMing on 34.53719347 meters Centerline goodness [0,1] 0.8974944484015587 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.15, Z:-0.46 [[ 0.99911653 -0.04120275 -0.00827634 1.43611173] [ 0.04110999 0.99909317 -0.01108211 -0.14942137] [ 0.00872545 0.01073208 0.99990434 -0.45689087] [ 0. 0. 0. 1. ]] SLAMing on 34.56719347 meters Centerline goodness [0,1] 0.8962319570325613 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.15, Z:-0.46 [[ 0.99910985 -0.0413567 -0.00831477 1.43625497] [ 0.04127233 0.99909713 -0.01007531 -0.15441144] [ 0.00872394 0.00972317 0.99991467 -0.4567736 ] [ 0. 0. 0. 1. ]] SLAMing on 34.59719346999999 meters Centerline goodness [0,1] 0.8913568928154693 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.16, Z:-0.46 [[ 0.99909205 -0.04177475 -0.00836302 1.43653042] [ 0.04169692 0.99908726 -0.00927445 -0.15852235] [ 0.00874282 0.00891732 0.99992202 -0.45673779] [ 0. 0. 0. 1. ]] SLAMing on 34.627193469999995 meters Centerline goodness [0,1] 0.8818405604999053 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.16, Z:-0.45 [[ 0.99889043 -0.04653295 -0.00725271 1.43261071] [ 0.04643677 0.99883782 -0.01290899 -0.16029915] [ 0.00784497 0.01255787 0.99989037 -0.45363249] [ 0. 0. 0. 1. ]] SLAMing on 34.657193469999996 meters Centerline goodness [0,1] 0.8821570680628272 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.16, Z:-0.45 [[ 0.99887563 -0.04685204 -0.00723643 1.43247844] [ 0.04675725 0.99882483 -0.01275589 -0.16054516] [ 0.00782557 0.01240319 0.99989245 -0.45335112] [ 0. 0. 0. 1. ]] SLAMing on 34.68719347 meters Centerline goodness [0,1] 0.8688193318879323 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.16, Z:-0.45 [[ 0.99900542 -0.04396223 -0.00744952 1.43246561] [ 0.04389556 0.99899658 -0.00888838 -0.16177522] [ 0.0078328 0.00855254 0.99993275 -0.45306429] [ 0. 0. 0. 1. ]] SLAMing on 34.71719347 meters Centerline goodness [0,1] 0.8572414947482947 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.16, Z:-0.45 [[ 0.99899179 -0.04421586 -0.00776903 1.43361939] [ 0.04414397 0.99898287 -0.00919397 -0.16110557] [ 0.00816765 0.00884174 0.99992755 -0.45368935] [ 0. 0. 0. 1. ]] SLAMing on 34.74719347 meters Centerline goodness [0,1] 0.8475050650625562 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.16, Z:-0.46 [[ 0.99896259 -0.04483071 -0.00799756 1.43511978] [ 0.04474888 0.99894688 -0.01013234 -0.16007746] [ 0.00844337 0.00976394 0.99991668 -0.4550106 ] [ 0. 0. 0. 1. ]] SLAMing on 34.77719346999999 meters Centerline goodness [0,1] 0.8510352358153794 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.16, Z:-0.46 [[ 0.99910174 -0.04158535 -0.00814718 1.43532745] [ 0.04152966 0.99911352 -0.00688964 -0.15934451] [ 0.00842647 0.00654511 0.99994308 -0.4552444 ] [ 0. 0. 0. 1. ]] SLAMing on 34.807193469999994 meters Centerline goodness [0,1] 0.8746900348842097 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.16, Z:-0.46 [[ 0.99924002 -0.03808687 -0.0082931 1.43567526] [ 0.03805504 0.99926779 -0.00396289 -0.15604609] [ 0.00843797 0.00364428 0.99995776 -0.45571762] [ 0. 0. 0. 1. ]] SLAMing on 34.837193469999995 meters Centerline goodness [0,1] 0.8866256483484177 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.14, Z:-0.46 [[ 0.99952287 -0.02946029 -0.00928026 1.4384208 ] [ 0.02948796 0.99956105 0.00285894 -0.14451153] [ 0.00919196 -0.00313123 0.99995285 -0.45775716] [ 0. 0. 0. 1. ]] SLAMing on 34.86719347 meters Centerline goodness [0,1] 0.8939813068443774 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.14, Z:-0.46 [[ 0.99962609 -0.02542237 -0.01006877 1.44027732] [ 0.02547841 0.99966037 0.00547681 -0.1385222 ] [ 0.00992612 -0.0057313 0.99993431 -0.45855338] [ 0. 0. 0. 1. ]] SLAMing on 34.89719347 meters Centerline goodness [0,1] 0.8983251065266 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.13, Z:-0.46 [[ 0.99971927 -0.02136659 -0.01023963 1.44047056] [ 0.02144849 0.9997383 0.00795614 -0.13268957] [ 0.01006696 -0.00817353 0.99991592 -0.45852496] [ 0. 0. 0. 1. ]] SLAMing on 34.92719347 meters Centerline goodness [0,1] 0.9036884384068637 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.13, Z:-0.46 [[ 0.99979079 -0.01755347 -0.0104998 1.44097208] [ 0.01766226 0.99979034 0.01035926 -0.1273364 ] [ 0.01031576 -0.01054255 0.99989121 -0.45864883] [ 0. 0. 0. 1. ]] SLAMing on 34.95719346999999 meters Centerline goodness [0,1] 0.9013484889793008 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.12, Z:-0.45 [[ 0.99988538 -0.01053109 -0.01087731 1.44386432] [ 0.0106119 0.99991633 0.00739796 -0.11611969] [ 0.01079849 -0.00751254 0.99991347 -0.45334506] [ 0. 0. 0. 1. ]] SLAMing on 34.987193469999994 meters Centerline goodness [0,1] 0.9018054917039328 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.11, Z:-0.45 [[ 0.99991419 -0.00700204 -0.01107161 1.4442523 ] [ 0.00711296 0.99992459 0.01001059 -0.11242995] [ 0.01100069 -0.01008848 0.9998886 -0.4533697 ] [ 0. 0. 0. 1. ]] SLAMing on 35.017193469999995 meters Centerline goodness [0,1] 0.8995627680147986 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.11, Z:-0.45 [[ 0.99992973 -0.00341419 -0.01135242 1.44530923] [ 0.00355734 0.99991411 0.01261398 -0.10847747] [ 0.01130838 -0.01265348 0.99985599 -0.45407692] [ 0. 0. 0. 1. ]] SLAMing on 35.047193469999996 meters Centerline goodness [0,1] 0.8984580432084481 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.10, Z:-0.46 [[ 0.99990984 0.00541034 -0.0122898 1.4499782 ] [-0.00516968 0.99979589 0.01953066 -0.10027808] [ 0.01239296 -0.01946536 0.99973372 -0.45790449] [ 0. 0. 0. 1. ]] SLAMing on 35.07719347 meters Centerline goodness [0,1] 0.8988045125441994 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.10, Z:-0.46 [[ 0.99988016 0.00920949 -0.01244367 1.45079019] [-0.00892826 0.99970766 0.0224694 -0.09657312] [ 0.01264696 -0.02235561 0.99967009 -0.4584931 ] [ 0. 0. 0. 1. ]] SLAMing on 35.10719347 meters Centerline goodness [0,1] 0.9006458127353429 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.46 [[ 0.99987466 0.00962535 -0.01257047 1.45110035] [-0.00935091 0.99972055 0.02171151 -0.09273384] [ 0.01277594 -0.02159124 0.99968525 -0.45842339] [ 0. 0. 0. 1. ]] SLAMing on 35.13719346999999 meters Centerline goodness [0,1] 0.8982696771470774 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.46 [[ 0.99986642 0.01053237 -0.01249807 1.45101261] [-0.01026066 0.99971385 0.02160887 -0.09139291] [ 0.01272209 -0.02147774 0.99968838 -0.45820555] [ 0. 0. 0. 1. ]] SLAMing on 35.167193469999994 meters Centerline goodness [0,1] 0.8986638611257233 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.46 [[ 0.99985929 0.01078673 -0.01284685 1.45200175] [-0.01050496 0.99970711 0.02180239 -0.09191355] [ 0.01307827 -0.02166436 0.99967976 -0.45853797] [ 0. 0. 0. 1. ]] SLAMing on 35.197193469999995 meters Centerline goodness [0,1] 0.8966632368072909 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.46 [[ 0.99985336 0.01097635 -0.01314462 1.45291959] [-0.01068608 0.99970189 0.02195293 -0.09230266] [ 0.01338166 -0.02180924 0.99967259 -0.45892709] [ 0. 0. 0. 1. ]] SLAMing on 35.227193469999996 meters Centerline goodness [0,1] 0.8966632368072909 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.46 [[ 0.99985336 0.01097635 -0.01314462 1.45291959] [-0.01068608 0.99970189 0.02195293 -0.09230266] [ 0.01338166 -0.02180924 0.99967259 -0.45892709] [ 0. 0. 0. 1. ]] SLAMing on 35.25719347 meters Centerline goodness [0,1] 0.8957113168335538 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.09, Z:-0.46 [[ 0.99987872 0.00792438 -0.01340705 1.45329856] [-0.00767866 0.99980341 0.01828056 -0.09125298] [ 0.01354928 -0.0181754 0.999743 -0.45863039] [ 0. 0. 0. 1. ]] SLAMing on 35.28719347 meters Centerline goodness [0,1] 0.891700532070887 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.10, Z:-0.46 [[ 0.99989169 0.00508552 -0.01381084 1.4547338 ] [-0.0048601 0.99985522 0.01630681 -0.09699123] [ 0.01389177 -0.01623793 0.99977165 -0.45938364] [ 0. 0. 0. 1. ]] SLAMing on 35.31719346999999 meters Centerline goodness [0,1] 0.8976651973087549 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.10, Z:-0.46 [[ 0.99990216 0.00164317 -0.01389106 1.4555134 ] [-0.00145743 0.99990955 0.01337058 -0.09994579] [ 0.01391177 -0.01334903 0.99981412 -0.46017138] [ 0. 0. 0. 1. ]] SLAMing on 35.34719346999999 meters Centerline goodness [0,1] 0.8942176799514125 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.11, Z:-0.46 [[ 0.99988147 -0.00461521 -0.01468798 1.45997212] [ 0.00474473 0.99995006 0.00879594 -0.10697147] [ 0.01464665 -0.00886459 0.99985344 -0.46397041] [ 0. 0. 0. 1. ]] SLAMing on 35.377193469999995 meters Centerline goodness [0,1] 0.8945598251072059 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.11, Z:-0.46 [[ 0.99985778 -0.00822937 -0.0147207 1.46064621] [ 0.00832093 0.99994635 0.00616939 -0.11145829] [ 0.01466914 -0.006291 0.99987261 -0.46462889] [ 0. 0. 0. 1. ]] SLAMing on 35.407193469999996 meters Centerline goodness [0,1] 0.8955933058615759 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.12, Z:-0.46 [[ 0.99982275 -0.01165763 -0.01478375 1.46102443] [ 0.0117137 0.9999245 0.00371211 -0.11607466] [ 0.01473936 -0.00388463 0.99988382 -0.4647741 ] [ 0. 0. 0. 1. ]] SLAMing on 35.43719347 meters Centerline goodness [0,1] 0.8956180976131101 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.12, Z:-0.47 [[ 9.99774260e-01 -1.50604688e-02 -1.49870132e-02 1.46181495e+00] [ 1.50779496e-02 9.99885766e-01 1.05407647e-03 -1.19659296e-01] [ 1.49694263e-02 -1.27981196e-03 9.99887133e-01 -4.65001004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46719347 meters Centerline goodness [0,1] 0.8953549777148772 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.13, Z:-0.46 [[ 9.99726467e-01 -1.80376514e-02 -1.48873800e-02 1.46099665e+00] [ 1.80334855e-02 9.99837298e-01 -4.14036105e-04 -1.26666525e-01] [ 1.48924261e-02 1.45451501e-04 9.99889091e-01 -4.63817229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49719347 meters Centerline goodness [0,1] 0.8962593621139443 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.13, Z:-0.46 [[ 9.99734391e-01 -1.73356508e-02 -1.51862909e-02 1.46166774e+00] [ 1.73527333e-02 9.99848936e-01 9.93811070e-04 -1.30814159e-01] [ 1.51667684e-02 -1.25707076e-03 9.99884188e-01 -4.63777077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52719346999999 meters Centerline goodness [0,1] 0.8959531505814198 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.14, Z:-0.46 [[ 0.99976625 -0.01517359 -0.01540186 1.4615513 ] [ 0.01523195 0.99987722 0.00367865 -0.13804728] [ 0.01534415 -0.00391239 0.99987462 -0.4627549 ] [ 0. 0. 0. 1. ]] SLAMing on 35.557193469999994 meters Centerline goodness [0,1] 0.8975915038877299 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.14, Z:-0.46 [[ 0.99980317 -0.01292227 -0.01505468 1.45972211] [ 0.01301579 0.99989649 0.00613099 -0.14096067] [ 0.0149739 -0.00632573 0.99986788 -0.46118299] [ 0. 0. 0. 1. ]] SLAMing on 35.587193469999995 meters Centerline goodness [0,1] 0.89710233114417 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.14, Z:-0.46 [[ 0.9998142 -0.01173746 -0.01529017 1.46025476] [ 0.01185328 0.99990157 0.00750679 -0.14318889] [ 0.01520055 -0.00768664 0.99985492 -0.46109266] [ 0. 0. 0. 1. ]] SLAMing on 35.61719347 meters Centerline goodness [0,1] 0.8970135177617101 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.15, Z:-0.46 [[ 0.99981984 -0.0105804 -0.01575881 1.46169872] [ 0.01072463 0.99990112 0.00909621 -0.14656093] [ 0.01566101 -0.00926358 0.99983445 -0.46167057] [ 0. 0. 0. 1. ]] SLAMing on 35.64719347 meters Centerline goodness [0,1] 0.8970442414396929 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.15, Z:-0.46 [[ 0.99982356 -0.00988509 -0.01597292 1.46261615] [ 0.01005428 0.99989383 0.01054671 -0.15124494] [ 0.01586697 -0.01070544 0.9998168 -0.46222441] [ 0. 0. 0. 1. ]] SLAMing on 35.67719347 meters Centerline goodness [0,1] 0.8966091336325894 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.16, Z:-0.46 [[ 0.99979473 -0.01225616 -0.01613314 1.46467139] [ 0.01241069 0.99987772 0.00951374 -0.16119498] [ 0.01601457 -0.00971201 0.99982459 -0.46389116] [ 0. 0. 0. 1. ]] SLAMing on 35.70719346999999 meters Centerline goodness [0,1] 0.8965683905268246 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.16, Z:-0.46 [[ 0.99975575 -0.01464476 -0.01655191 1.46649193] [ 0.01477444 0.99986089 0.00774009 -0.16461243] [ 0.01643625 -0.00798275 0.99983305 -0.46490638] [ 0. 0. 0. 1. ]] SLAMing on 35.737193469999994 meters Centerline goodness [0,1] 0.8979847813362322 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.17, Z:-0.46 [[ 0.99970201 -0.01787151 -0.01662827 1.46683293] [ 0.01795795 0.99982592 0.00506342 -0.1672716 ] [ 0.01653489 -0.00536052 0.99984892 -0.46483113] [ 0. 0. 0. 1. ]] SLAMing on 35.767193469999995 meters Centerline goodness [0,1] 0.8982739164960087 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.46 [[ 9.99604479e-01 -2.30426722e-02 -1.61220677e-02 1.46476830e+00] [ 2.30656828e-02 9.99733179e-01 1.24276284e-03 -1.76230733e-01] [ 1.60891295e-02 -1.61413781e-03 9.99869259e-01 -4.62702845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.797193469999996 meters Centerline goodness [0,1] 0.8961613451015744 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.46 [[ 9.99528221e-01 -2.61205518e-02 -1.61570915e-02 1.46492830e+00] [ 2.61058625e-02 9.99658557e-01 -1.11943447e-03 -1.80715404e-01] [ 1.61808150e-02 6.97111535e-04 9.99868839e-01 -4.62475533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82719347 meters Centerline goodness [0,1] 0.89611693118374 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.19, Z:-0.46 [[ 9.99523465e-01 -2.60660603e-02 -1.65349316e-02 1.46620926e+00] [ 2.60740145e-02 9.99659980e-01 2.65617972e-04 -1.86327621e-01] [ 1.65223858e-02 -6.96623443e-04 9.99863253e-01 -4.63025611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85719347 meters Centerline goodness [0,1] 0.8959354038311921 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.19, Z:-0.47 [[ 9.99417907e-01 -2.96729162e-02 -1.68334469e-02 1.46853991e+00] [ 2.96571773e-02 9.99559428e-01 -1.18390172e-03 -1.92696438e-01] [ 1.68611603e-02 6.83980062e-04 9.99857607e-01 -4.65052711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88719346999999 meters Centerline goodness [0,1] 0.8959331896100634 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.20, Z:-0.47 [[ 0.99929017 -0.03354108 -0.01715076 1.46991547] [ 0.03347481 0.999431 -0.00413622 -0.19562633] [ 0.01727974 0.00355917 0.99984436 -0.46561755] [ 0. 0. 0. 1. ]] SLAMing on 35.917193469999994 meters Centerline goodness [0,1] 0.8957955138236828 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.20, Z:-0.47 [[ 0.9991484 -0.03757771 -0.01704082 1.4699995 ] [ 0.0374578 0.99927153 -0.0073021 -0.19833566] [ 0.0173028 0.00665757 0.99982813 -0.46541828] [ 0. 0. 0. 1. ]] SLAMing on 35.947193469999995 meters Centerline goodness [0,1] 0.8968671679197995 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.20, Z:-0.46 [[ 0.99910834 -0.03859932 -0.0171063 1.46980945] [ 0.03848344 0.99923435 -0.00705198 -0.20179815] [ 0.01736541 0.00638738 0.99982881 -0.46465043] [ 0. 0. 0. 1. ]] SLAMing on 35.977193469999996 meters Centerline goodness [0,1] 0.9016899645316085 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.20, Z:-0.46 [[ 0.99891528 -0.04333242 -0.01704612 1.47008368] [ 0.04315386 0.99901106 -0.0107073 -0.20433765] [ 0.01749324 0.00996008 0.99979737 -0.46445651] [ 0. 0. 0. 1. ]] SLAMing on 36.00719347 meters Centerline goodness [0,1] 0.9016633233032431 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.21, Z:-0.46 [[ 0.99889709 -0.04372048 -0.01712087 1.47025639] [ 0.04354481 0.99899627 -0.01050275 -0.20628109] [ 0.01756287 0.00974564 0.99979826 -0.46427368] [ 0. 0. 0. 1. ]] SLAMing on 36.03719347 meters Centerline goodness [0,1] 0.9046962191986958 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.21, Z:-0.46 [[ 0.99888901 -0.04391127 -0.01710404 1.47000886] [ 0.04374008 0.99899028 -0.01025806 -0.20792085] [ 0.01753721 0.00949853 0.99980109 -0.46381939] [ 0. 0. 0. 1. ]] SLAMing on 36.06719346999999 meters Centerline goodness [0,1] 0.9052319842053307 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.21, Z:-0.46 [[ 0.99888274 -0.04407782 -0.01704187 1.46959701] [ 0.04390812 0.99898342 -0.01020759 -0.2082596 ] [ 0.01747447 0.00944791 0.99980267 -0.46333406] [ 0. 0. 0. 1. ]] SLAMing on 36.09719346999999 meters Centerline goodness [0,1] 0.9071253173513131 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.47 [[ 9.98947625e-01 -4.45720345e-02 -1.08155239e-02 1.47889632e+00] [ 4.45684355e-02 9.99006169e-01 -5.73675116e-04 -2.06659644e-01] [ 1.08303450e-02 9.10404140e-05 9.99941346e-01 -4.66344015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127193469999995 meters Centerline goodness [0,1] 0.9082157814681308 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.47 [[ 0.99907534 -0.04160751 -0.01083002 1.47874022] [ 0.04164306 0.99912781 0.00307768 -0.20666601] [ 0.01069252 -0.00352582 0.99993662 -0.46626889] [ 0. 0. 0. 1. ]] SLAMing on 36.157193469999996 meters Centerline goodness [0,1] 0.9059445068430467 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.47 [[ 0.9990607 -0.04190519 -0.01103053 1.47959961] [ 0.04193714 0.99911665 0.00268117 -0.20529022] [ 0.01090844 -0.00314124 0.99993557 -0.466801 ] [ 0. 0. 0. 1. ]] SLAMing on 36.18719347 meters Centerline goodness [0,1] 0.9004213104206877 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.20, Z:-0.47 [[ 0.99900721 -0.04289071 -0.01204055 1.48524836] [ 0.04291372 0.9990774 0.00165891 -0.20464088] [ 0.01195829 -0.00217397 0.99992613 -0.47136364] [ 0. 0. 0. 1. ]] SLAMing on 36.21719347 meters Centerline goodness [0,1] 0.892379679144385 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.20, Z:-0.47 [[ 9.98979852e-01 -4.34612341e-02 -1.22628326e-02 1.48672466e+00] [ 4.34787739e-02 9.99053669e-01 1.16724405e-03 -2.04360022e-01] [ 1.22004980e-02 -1.69922621e-03 9.99924127e-01 -4.72683983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24719347 meters Centerline goodness [0,1] 0.8938302207844043 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.20, Z:-0.47 [[ 9.98959955e-01 -4.38825829e-02 -1.23825563e-02 1.48756919e+00] [ 4.38944468e-02 9.99035937e-01 6.87846794e-04 -2.03281659e-01] [ 1.23404342e-02 -1.23065686e-03 9.99923097e-01 -4.73468698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27719346999999 meters Centerline goodness [0,1] 0.8869657807378333 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.20, Z:-0.48 [[ 9.98964419e-01 -4.35502604e-02 -1.31705891e-02 1.49142966e+00] [ 4.35639686e-02 9.99050354e-01 7.55592880e-04 -1.99219103e-01] [ 1.31251755e-02 -1.32857353e-03 9.99912979e-01 -4.76504955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307193469999994 meters Centerline goodness [0,1] 0.8778605081608615 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.20, Z:-0.48 [[ 0.99909068 -0.04047039 -0.01341516 1.49240334] [ 0.04052751 0.99917036 0.00401358 -0.19808354] [ 0.0132416 -0.00455361 0.99990196 -0.4775039 ] [ 0. 0. 0. 1. ]] SLAMing on 36.337193469999995 meters Centerline goodness [0,1] 0.8801213960546282 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.20, Z:-0.48 [[ 0.99917713 -0.03808109 -0.01396014 1.49422164] [ 0.038174 0.99925029 0.00645006 -0.1959359 ] [ 0.01370405 -0.00697767 0.99988175 -0.47876182] [ 0. 0. 0. 1. ]] SLAMing on 36.36719347 meters Centerline goodness [0,1] 0.8761290860921627 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.48 [[ 0.99915627 -0.03850588 -0.01428434 1.49522139] [ 0.03858715 0.99924033 0.0054577 -0.19248234] [ 0.01406333 -0.00600429 0.99988308 -0.47923776] [ 0. 0. 0. 1. ]] SLAMing on 36.39719347 meters Centerline goodness [0,1] 0.8675907921972026 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:-0.48 [[ 0.99917062 -0.03821605 -0.01405748 1.49345638] [ 0.03829127 0.9992535 0.00512053 -0.18682695] [ 0.01385129 -0.00565456 0.99988808 -0.47765487] [ 0. 0. 0. 1. ]] SLAMing on 36.42719347 meters Centerline goodness [0,1] 0.8687401822180333 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.48 [[ 0.99915283 -0.03865986 -0.01410773 1.49346872] [ 0.03872158 0.99924151 0.0041284 -0.18402249] [ 0.01393743 -0.00467118 0.99989196 -0.47752608] [ 0. 0. 0. 1. ]] SLAMing on 36.45719346999999 meters Centerline goodness [0,1] 0.8716571931958806 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.48 [[ 0.9992193 -0.03694384 -0.01399783 1.49277984] [ 0.03701138 0.99930427 0.00459695 -0.17694874] [ 0.01381826 -0.00511144 0.99989146 -0.47711319] [ 0. 0. 0. 1. ]] SLAMing on 36.487193469999994 meters Centerline goodness [0,1] 0.8733650042902288 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:-0.48 [[ 0.99928079 -0.03505396 -0.01446076 1.4947426 ] [ 0.0351439 0.99936417 0.00601316 -0.17305571] [ 0.01424078 -0.00651705 0.99987736 -0.47864746] [ 0. 0. 0. 1. ]] SLAMing on 36.517193469999995 meters Centerline goodness [0,1] 0.87027794599787 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.17, Z:-0.48 [[ 0.99934279 -0.03299126 -0.01501884 1.49674239] [ 0.03310765 0.99942314 0.00756795 -0.16869068] [ 0.0147605 -0.00806021 0.99985857 -0.48003554] [ 0. 0. 0. 1. ]] SLAMing on 36.547193469999996 meters Centerline goodness [0,1] 0.8737086939211701 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.16, Z:-0.48 [[ 0.99949404 -0.02799818 -0.01509172 1.49675409] [ 0.02816827 0.99954069 0.01117802 -0.15898814] [ 0.01477183 -0.01159747 0.99982363 -0.48046016] [ 0. 0. 0. 1. ]] SLAMing on 36.57719347 meters Centerline goodness [0,1] 0.8861236802413273 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.15, Z:-0.48 [[ 0.99956154 -0.02530771 -0.0153705 1.4976753 ] [ 0.02550687 0.99959138 0.01290229 -0.15377406] [ 0.01503769 -0.01328869 0.99979862 -0.48110574] [ 0. 0. 0. 1. ]] SLAMing on 36.60719347 meters Centerline goodness [0,1] 0.8898031825795645 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.15, Z:-0.48 [[ 0.99962351 -0.02244702 -0.01577853 1.49894982] [ 0.02268055 0.9996335 0.01478029 -0.14907674] [ 0.01544098 -0.01513259 0.99976626 -0.48188323] [ 0. 0. 0. 1. ]] SLAMing on 36.63719346999999 meters Centerline goodness [0,1] 0.8940380709065399 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.15, Z:-0.48 [[ 0.99966978 -0.01979117 -0.01639036 1.50114357] [ 0.02006153 0.99966261 0.01649831 -0.14506677] [ 0.01605831 -0.01682168 0.99972954 -0.48327529] [ 0. 0. 0. 1. ]] SLAMing on 36.667193469999994 meters Centerline goodness [0,1] 0.8895024157620631 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:-0.49 [[ 0.99982033 -0.01064882 -0.01568146 1.50450246] [ 0.01074585 0.99992356 0.00611617 -0.13672459] [ 0.01561513 -0.00628358 0.99985833 -0.48574693] [ 0. 0. 0. 1. ]] SLAMing on 36.697193469999995 meters Centerline goodness [0,1] 0.8867660569614967 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.48 [[ 9.99884586e-01 -5.56781002e-03 -1.41355433e-02 1.51163140e+00] [ 5.57139251e-03 9.99984457e-01 2.14071366e-04 -1.31563383e-01] [ 1.41341317e-02 -2.92801319e-04 9.99900065e-01 -4.83679288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.727193469999996 meters Centerline goodness [0,1] 0.8859438087069308 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:-0.48 [[ 0.99989668 -0.00189048 -0.01425007 1.51131834] [ 0.00193504 0.99999328 0.00311385 -0.12754725] [ 0.01424409 -0.0031411 0.99989361 -0.48292091] [ 0. 0. 0. 1. ]] SLAMing on 36.75719347 meters Centerline goodness [0,1] 0.8863727328263571 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.12, Z:-0.48 [[ 9.99896610e-01 1.08910989e-03 -1.43381660e-02 1.51024364e+00] [-1.01396778e-03 9.99985721e-01 5.24693296e-03 -1.21832577e-01] [ 1.43436757e-02 -5.23185204e-03 9.99883437e-01 -4.81228935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78719347 meters Centerline goodness [0,1] 0.8849449718558347 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.48 [[ 9.99978551e-01 1.05600335e-03 -6.46400241e-03 1.51913644e+00] [-1.06859684e-03 9.99997537e-01 -1.94510688e-03 -1.20137895e-01] [ 6.46193245e-03 1.95197257e-03 9.99977216e-01 -4.83871820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81719346999999 meters Centerline goodness [0,1] 0.8873747913188648 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.48 [[ 9.99978779e-01 2.73210174e-04 -6.50895192e-03 1.51903623e+00] [-2.87536373e-04 9.99997538e-01 -2.20016532e-03 -1.21690600e-01] [ 6.50833479e-03 2.20199019e-03 9.99976396e-01 -4.83482663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84719346999999 meters Centerline goodness [0,1] 0.8849566826478257 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.48 [[ 9.99980809e-01 -1.43471616e-03 -6.02682875e-03 1.51701195e+00] [ 1.41382721e-03 9.99992984e-01 -3.46882490e-03 -1.22993097e-01] [ 6.03176324e-03 3.46023744e-03 9.99975822e-01 -4.82037055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.877193469999995 meters Centerline goodness [0,1] 0.888697912299824 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.48 [[ 0.99997475 -0.00312501 -0.00638275 1.51945484] [ 0.00309447 0.99998375 -0.00478765 -0.1222566 ] [ 0.00639761 0.00476778 0.99996817 -0.48436129] [ 0. 0. 0. 1. ]] SLAMing on 36.907193469999996 meters Centerline goodness [0,1] 0.8890700445224807 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.49 [[ 9.99975719e-01 -1.19321154e-03 -6.86572644e-03 1.52178259e+00] [ 1.17482075e-03 9.99995713e-01 -2.68204597e-03 -1.20839667e-01] [ 6.86889726e-03 2.67391485e-03 9.99972834e-01 -4.86088669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93719347 meters Centerline goodness [0,1] 0.8894609074167086 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:-0.49 [[ 9.99974724e-01 1.73115620e-03 -6.89592483e-03 1.52155888e+00] [-1.73536124e-03 9.99998312e-01 -6.03849137e-04 -1.15561889e-01] [ 6.89486784e-03 6.15800795e-04 9.99976041e-01 -4.85619979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96719347 meters Centerline goodness [0,1] 0.8878148799062683 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:-0.49 [[ 9.99974240e-01 1.58010692e-03 -7.00154513e-03 1.52197921e+00] [-1.58901915e-03 9.99997934e-01 -1.26751512e-03 -1.13185709e-01] [ 6.99952786e-03 1.27860806e-03 9.99974686e-01 -4.85752803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99719347 meters Centerline goodness [0,1] 0.8890255854202723 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:-0.49 [[ 9.99972286e-01 1.43485697e-03 -7.30535176e-03 1.52276493e+00] [-1.44756281e-03 9.99997448e-01 -1.73426131e-03 -1.11860664e-01] [ 7.30284470e-03 1.74478820e-03 9.99971812e-01 -4.85930226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02719346999999 meters Centerline goodness [0,1] 0.8866135441414544 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:-0.49 [[ 9.99971984e-01 1.04901091e-03 -7.41151146e-03 1.52315854e+00] [-1.06926805e-03 9.99995703e-01 -2.72976550e-03 -1.09106712e-01] [ 7.40861606e-03 2.73761392e-03 9.99968808e-01 -4.86117653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.057193469999994 meters Centerline goodness [0,1] 0.8883745177770827 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.49 [[ 0.99996392 0.00235741 -0.00816083 1.52649692] [-0.00237194 0.99999562 -0.00177131 -0.10665817] [ 0.00815662 0.0017906 0.99996513 -0.48839775] [ 0. 0. 0. 1. ]] SLAMing on 37.087193469999995 meters Centerline goodness [0,1] 0.8915223718096354 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.49 [[ 0.99996174 0.00241905 -0.0084058 1.5277076 ] [-0.00243892 0.99999426 -0.0023538 -0.10374267] [ 0.00840006 0.00237421 0.9999619 -0.48929552] [ 0. 0. 0. 1. ]] SLAMing on 37.11719347 meters Centerline goodness [0,1] 0.8915223718096354 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.49 [[ 0.99996174 0.00241905 -0.0084058 1.5277076 ] [-0.00243892 0.99999426 -0.0023538 -0.10374267] [ 0.00840006 0.00237421 0.9999619 -0.48929552] [ 0. 0. 0. 1. ]] SLAMing on 37.14719347 meters Centerline goodness [0,1] 0.8894877580011699 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.49 [[ 0.99995431 0.00317908 -0.00901456 1.53024745] [-0.00319682 0.99999298 -0.00195402 -0.10273486] [ 0.00900828 0.00198275 0.99995746 -0.49099382] [ 0. 0. 0. 1. ]] SLAMing on 37.17719347 meters Centerline goodness [0,1] 0.8929853113002838 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.49 [[ 9.99935530e-01 6.04892320e-03 -9.60972369e-03 1.53376004e+00] [-6.04684897e-03 9.99981688e-01 2.44887113e-04 -1.01059568e-01] [ 9.61102902e-03 -1.86762777e-04 9.99953796e-01 -4.93858748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20719346999999 meters Centerline goodness [0,1] 0.8943681117594161 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.49 [[ 9.99929673e-01 6.51223529e-03 -9.91156731e-03 1.53488559e+00] [-6.51404124e-03 9.99978772e-01 -1.49933339e-04 -9.84898497e-02] [ 9.91038051e-03 2.14487153e-04 9.99950868e-01 -4.94441015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.237193469999994 meters Centerline goodness [0,1] 0.8967482752818442 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.10, Z:-0.49 [[ 9.99922833e-01 7.11677670e-03 -1.01823503e-02 1.53568219e+00] [-7.12219576e-03 9.99974514e-01 -4.96038102e-04 -9.58316403e-02] [ 1.01785606e-02 5.68520517e-04 9.99948035e-01 -4.94615043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.267193469999995 meters Centerline goodness [0,1] 0.8971728796597448 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.09, Z:-0.50 [[ 0.99989684 0.01368244 -0.00437133 1.54636362] [-0.01369914 0.99989889 -0.00381333 -0.09239617] [ 0.00431871 0.00387282 0.99998317 -0.4974806 ] [ 0. 0. 0. 1. ]] SLAMing on 37.297193469999996 meters Centerline goodness [0,1] 0.8970127604111922 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.09, Z:-0.50 [[ 0.99988006 0.01485641 -0.0043765 1.54627158] [-0.01487141 0.99988358 -0.0034156 -0.09153121] [ 0.00432525 0.00348027 0.99998459 -0.49711526] [ 0. 0. 0. 1. ]] SLAMing on 37.32719347 meters Centerline goodness [0,1] 0.8960193607610782 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.09, Z:-0.50 [[ 9.99834343e-01 1.75445792e-02 -4.84494228e-03 1.54867459e+00] [-1.75491631e-02 9.99845592e-01 -9.05223010e-04 -9.15537634e-02] [ 4.82831243e-03 9.90097736e-04 9.99987853e-01 -4.98697801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35719347 meters Centerline goodness [0,1] 0.888863404157718 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.09, Z:-0.50 [[ 0.99973015 0.02270293 -0.00491911 1.54942181] [-0.02268258 0.99973408 0.00415525 -0.09307559] [ 0.00501214 -0.00404255 0.99997927 -0.49913007] [ 0. 0. 0. 1. ]] SLAMing on 37.38719346999999 meters Centerline goodness [0,1] 0.8850203273220056 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.10, Z:-0.50 [[ 0.99971694 0.02319954 -0.00527388 1.55056284] [-0.02317331 0.99971905 0.00498108 -0.09515912] [ 0.00538796 -0.00485746 0.99997369 -0.49967638] [ 0. 0. 0. 1. ]] SLAMing on 37.417193469999994 meters Centerline goodness [0,1] 0.8827326856784707 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.10, Z:-0.50 [[ 0.99978195 0.02015005 -0.00547935 1.55124474] [-0.02013978 0.99979532 0.00192307 -0.09691816] [ 0.00551698 -0.00181229 0.99998314 -0.50013854] [ 0. 0. 0. 1. ]] SLAMing on 37.447193469999995 meters Centerline goodness [0,1] 0.8863908809859303 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.10, Z:-0.50 [[ 9.99841418e-01 1.68700781e-02 -5.70428867e-03 1.55179053e+00] [-1.68753504e-02 9.99857216e-01 -8.77396388e-04 -1.00511664e-01] [ 5.68867244e-03 9.73519118e-04 9.99983345e-01 -5.00416040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.477193469999996 meters Centerline goodness [0,1] 0.8873156959113249 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.50 [[ 9.99946148e-01 1.03490106e-02 -7.73500532e-04 1.56302432e+00] [-1.03461913e-02 9.99940125e-01 3.56401373e-03 -1.09753061e-01] [ 8.10338235e-04 -3.55581902e-03 9.99993350e-01 -5.04254202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50719347 meters Centerline goodness [0,1] 0.8898705223175876 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.50 [[ 9.99976997e-01 6.70328393e-03 -1.03542062e-03 1.56345664e+00] [-6.70279090e-03 9.99977421e-01 4.78901484e-04 -1.12200854e-01] [ 1.03860746e-03 -4.71950259e-04 9.99999349e-01 -5.04210903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53719347 meters Centerline goodness [0,1] 0.8899673667475525 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.12, Z:-0.50 [[ 9.99992316e-01 3.67697098e-03 -1.35957098e-03 1.56457774e+00] [-3.67964057e-03 9.99991297e-01 -1.96629206e-03 -1.15408662e-01] [ 1.35232915e-03 1.97127968e-03 9.99997143e-01 -5.04766988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56719346999999 meters Centerline goodness [0,1] 0.8899380901757239 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.12, Z:-0.51 [[ 9.99997730e-01 1.03872720e-03 -1.86062252e-03 1.56615169e+00] [-1.04466348e-03 9.99994359e-01 -3.19235311e-03 -1.24002846e-01] [ 1.85729604e-03 3.19428959e-03 9.99993173e-01 -5.05467583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59719346999999 meters Centerline goodness [0,1] 0.8896903109470992 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.13, Z:-0.51 [[ 9.99997312e-01 1.22578419e-03 -1.96835839e-03 1.56672038e+00] [-1.23001989e-03 9.99996928e-01 -2.15213069e-03 -1.28175783e-01] [ 1.96571429e-03 2.15454602e-03 9.99995747e-01 -5.05943540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627193469999995 meters Centerline goodness [0,1] 0.8885574215082925 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.13, Z:-0.51 [[ 9.99996178e-01 1.57469673e-03 -2.27261518e-03 1.56786668e+00] [-1.57739197e-03 9.99998054e-01 -1.18465706e-03 -1.31209562e-01] [ 2.27074529e-03 1.18823734e-03 9.99996716e-01 -5.06590203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.657193469999996 meters Centerline goodness [0,1] 0.8882610508757298 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.13, Z:-0.51 [[ 9.99995561e-01 1.83828509e-03 -2.34488062e-03 1.56813542e+00] [-1.83954191e-03 9.99998165e-01 -5.33943444e-04 -1.33273383e-01] [ 2.34389478e-03 5.38254580e-04 9.99997108e-01 -5.06646225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68719347 meters Centerline goodness [0,1] 0.8899778492915953 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.14, Z:-0.50 [[ 9.99997292e-01 -4.24286809e-04 -2.28810491e-03 1.56652951e+00] [ 4.20285213e-04 9.99998382e-01 -1.74906638e-03 -1.39156208e-01] [ 2.28884331e-03 1.74809999e-03 9.99995853e-01 -5.04567175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71719347 meters Centerline goodness [0,1] 0.8905600467924213 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.14, Z:-0.50 [[ 9.99997357e-01 -5.64760550e-04 -2.22880404e-03 1.56598421e+00] [ 5.63572117e-04 9.99999699e-01 -5.33807558e-04 -1.43939579e-01] [ 2.22910484e-03 5.32550055e-04 9.99997374e-01 -5.03733354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74719347 meters Centerline goodness [0,1] 0.890281543274244 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.15, Z:-0.50 [[ 9.99996813e-01 -7.50005027e-04 -2.41052067e-03 1.56619896e+00] [ 7.51616457e-04 9.99999495e-01 6.67662608e-04 -1.48364761e-01] [ 2.41001870e-03 -6.69472268e-04 9.99996872e-01 -5.03377634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77719346999999 meters Centerline goodness [0,1] 0.8900122996101649 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.15, Z:-0.50 [[ 9.99996449e-01 -1.01901808e-03 -2.46236958e-03 1.56608590e+00] [ 1.02338345e-03 9.99997906e-01 1.77222535e-03 -1.53350825e-01] [ 2.46055849e-03 -1.77473900e-03 9.99995398e-01 -5.02952312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807193469999994 meters Centerline goodness [0,1] 0.890513842238124 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.16, Z:-0.50 [[ 0.9999768 -0.00646972 -0.00213053 1.56366662] [ 0.00646459 0.99997621 -0.00240609 -0.16181874] [ 0.00214605 0.00239226 0.99999484 -0.50031596] [ 0. 0. 0. 1. ]] SLAMing on 37.837193469999995 meters Centerline goodness [0,1] 0.89013252335282 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.17, Z:-0.50 [[ 9.99977382e-01 -6.32793011e-03 -2.27859023e-03 1.56387283e+00] [ 6.32559698e-03 9.99979463e-01 -1.02969135e-03 -1.67228902e-01] [ 2.28505925e-03 1.01525462e-03 9.99996874e-01 -5.00106347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86719347 meters Centerline goodness [0,1] 0.8874159663865546 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.17, Z:-0.50 [[ 9.99977569e-01 -6.27756708e-03 -2.33526476e-03 1.56421585e+00] [ 6.27755364e-03 9.99980296e-01 -1.30857811e-05 -1.71390205e-01] [ 2.33530089e-03 -1.57426220e-06 9.99997273e-01 -5.00384425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89719347 meters Centerline goodness [0,1] 0.8882149408037352 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.18, Z:-0.50 [[ 9.99973794e-01 -6.54812108e-03 -3.08765404e-03 1.56804351e+00] [ 6.55100556e-03 9.99978114e-01 9.25010487e-04 -1.76781466e-01] [ 3.08152938e-03 -9.45213485e-04 9.99994805e-01 -5.03370049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92719347 meters Centerline goodness [0,1] 0.889436531473205 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.18, Z:-0.50 [[ 0.99997556 -0.00617829 -0.00327249 1.56869676] [ 0.00618463 0.99997901 0.0019297 -0.17944383] [ 0.0032605 -0.00194989 0.99999278 -0.50378532] [ 0. 0. 0. 1. ]] SLAMing on 37.95719346999999 meters Centerline goodness [0,1] 0.8864006684771255 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.18, Z:-0.50 [[ 0.99997694 -0.00577168 -0.00357999 1.57005558] [ 0.00578322 0.99997809 0.00322193 -0.18353842] [ 0.00356131 -0.00324256 0.9999884 -0.50475667] [ 0. 0. 0. 1. ]] SLAMing on 37.987193469999994 meters Centerline goodness [0,1] 0.8871756299360662 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.19, Z:-0.51 [[ 0.99995513 -0.0081203 -0.00487863 1.57649794] [ 0.00812942 0.99996524 0.00185118 -0.1920548 ] [ 0.00486343 -0.00189076 0.99998639 -0.50974432] [ 0. 0. 0. 1. ]] SLAMing on 38.017193469999995 meters Centerline goodness [0,1] 0.8885782247631766 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99996228 -0.00675384 -0.00546135 1.57961785] [ 0.00677468 0.99996981 0.00380676 -0.19540087] [ 0.00543548 -0.00384362 0.99997784 -0.51229179] [ 0. 0. 0. 1. ]] SLAMing on 38.047193469999996 meters Centerline goodness [0,1] 0.8875719819914145 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99996309 -0.00643846 -0.00568931 1.58050307] [ 0.00646287 0.99996995 0.00428205 -0.19560342] [ 0.00566157 -0.00431866 0.99997465 -0.51287792] [ 0. 0. 0. 1. ]] SLAMing on 38.07719347 meters Centerline goodness [0,1] 0.8875301555611014 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99995967 -0.00650495 -0.00619242 1.58053766] [ 0.00653376 0.99996787 0.00464365 -0.19591667] [ 0.00616202 -0.00468392 0.99997004 -0.51143396] [ 0. 0. 0. 1. ]] SLAMing on 38.10719347 meters Centerline goodness [0,1] 0.8870278940899528 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99995699 -0.00682757 -0.00627689 1.57992438] [ 0.00685924 0.99996379 0.00503712 -0.19858888] [ 0.00624227 -0.00507996 0.99996761 -0.51021767] [ 0. 0. 0. 1. ]] SLAMing on 38.13719346999999 meters Centerline goodness [0,1] 0.8878196430435237 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 9.99922235e-01 -1.07872925e-02 -6.25773390e-03 1.57945711e+00] [ 1.07970147e-02 9.99940552e-01 1.52193004e-03 -2.00743786e-01] [ 6.24094439e-03 -1.58937653e-03 9.99979262e-01 -5.09427272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167193469999994 meters Centerline goodness [0,1] 0.8835660759387981 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99978603 -0.01986378 -0.00577354 1.57836648] [ 0.01982751 0.99978374 -0.00627294 -0.20322175] [ 0.0058969 0.00615713 0.99996366 -0.50846865] [ 0. 0. 0. 1. ]] SLAMing on 38.197193469999995 meters Centerline goodness [0,1] 0.8760600266045893 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99976067 -0.02109722 -0.00578839 1.57866156] [ 0.0210602 0.99975782 -0.00638507 -0.20465004] [ 0.00592169 0.00626164 0.99996286 -0.50860308] [ 0. 0. 0. 1. ]] SLAMing on 38.227193469999996 meters Centerline goodness [0,1] 0.8698920265780731 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99974638 -0.02175107 -0.00583751 1.57887763] [ 0.02171298 0.99974304 -0.00651153 -0.20493328] [ 0.00597765 0.00638313 0.99996176 -0.50857424] [ 0. 0. 0. 1. ]] SLAMing on 38.25719347 meters Centerline goodness [0,1] 0.8684653949366562 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.9998081 -0.01876017 -0.00564013 1.57850018] [ 0.01874197 0.99981903 -0.00326196 -0.20387587] [ 0.0057003 0.00315562 0.99997877 -0.50849616] [ 0. 0. 0. 1. ]] SLAMing on 38.28719347 meters Centerline goodness [0,1] 0.876480612652795 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 9.99870525e-01 -1.50545651e-02 -5.68269132e-03 1.57895321e+00] [ 1.50568904e-02 9.99886571e-01 3.66624090e-04 -2.03378744e-01] [ 5.67652737e-03 -4.52140281e-04 9.99983786e-01 -5.09138746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31719346999999 meters Centerline goodness [0,1] 0.8796460546361416 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99989774 -0.01284702 -0.00628168 1.58199548] [ 0.01286012 0.9999152 0.00204998 -0.20141955] [ 0.00625481 -0.00213055 0.99997817 -0.51153586] [ 0. 0. 0. 1. ]] SLAMing on 38.34719346999999 meters Centerline goodness [0,1] 0.8798766897873316 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.20, Z:-0.51 [[ 0.99992444 -0.01018304 -0.00688691 1.58493979] [ 0.01021219 0.99993899 0.00421075 -0.19958745] [ 0.00684361 -0.00428077 0.99996742 -0.51378295] [ 0. 0. 0. 1. ]] SLAMing on 38.377193469999995 meters Centerline goodness [0,1] 0.8842147183969482 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.20, Z:-0.52 [[ 0.99996878 -0.00286601 -0.00736395 1.58720888] [ 0.00294222 0.99994201 0.01035983 -0.19534083] [ 0.00733383 -0.01038117 0.99991922 -0.51563053] [ 0. 0. 0. 1. ]] SLAMing on 38.407193469999996 meters Centerline goodness [0,1] 0.8852141307324471 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.52 [[ 9.99970231e-01 1.05930861e-03 -7.64301046e-03 1.58800591e+00] [-9.53630210e-04 9.99904083e-01 1.38172239e-02 -1.93387651e-01] [ 7.65691407e-03 -1.38095240e-02 9.99875327e-01 -5.15979949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43719347 meters Centerline goodness [0,1] 0.8872577681256264 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.52 [[ 0.99995579 0.00495226 -0.00799354 1.58909869] [-0.00481146 0.99983461 0.01753841 -0.19246246] [ 0.00807907 -0.01749917 0.99981424 -0.51647829] [ 0. 0. 0. 1. ]] SLAMing on 38.46719347 meters Centerline goodness [0,1] 0.8835461586769939 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.52 [[ 0.99994903 0.00591012 -0.0081854 1.58980826] [-0.00576688 0.99983174 0.01741341 -0.18989063] [ 0.00828694 -0.01736532 0.99981487 -0.51684427] [ 0. 0. 0. 1. ]] SLAMing on 38.49719347 meters Centerline goodness [0,1] 0.8839873364992086 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.19, Z:-0.52 [[ 0.9999557 0.00688083 -0.00642212 1.59739558] [-0.00683401 0.99995012 0.00728317 -0.1886824 ] [ 0.00647191 -0.00723896 0.99995285 -0.51548909] [ 0. 0. 0. 1. ]] SLAMing on 38.52719346999999 meters Centerline goodness [0,1] 0.883595561963267 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.19, Z:-0.51 [[ 0.9999545 0.00710617 -0.00636327 1.59668247] [-0.0070576 0.99994604 0.00762328 -0.18982278] [ 0.0064171 -0.00757802 0.9999507 -0.51455 ] [ 0. 0. 0. 1. ]] SLAMing on 38.557193469999994 meters Centerline goodness [0,1] 0.8834882357866533 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.51 [[ 0.9999354 0.00982738 -0.00571103 1.59382354] [-0.00976814 0.99989913 0.01031061 -0.18939469] [ 0.00581178 -0.01025416 0.99993054 -0.51223114] [ 0. 0. 0. 1. ]] SLAMing on 38.587193469999995 meters Centerline goodness [0,1] 0.8824156528282955 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.51 [[ 0.99992909 0.01051654 -0.00558776 1.59349495] [-0.01045888 0.99989276 0.01025075 -0.18739128] [ 0.00569496 -0.01019158 0.99993185 -0.51192147] [ 0. 0. 0. 1. ]] SLAMing on 38.61719347 meters Centerline goodness [0,1] 0.8788176721613254 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.51 [[ 0.99991792 0.01162868 -0.00537758 1.59300801] [-0.01157259 0.99987951 0.01034647 -0.18524627] [ 0.00549724 -0.01028339 0.99993201 -0.51156753] [ 0. 0. 0. 1. ]] SLAMing on 38.64719347 meters Centerline goodness [0,1] 0.8691965497796621 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.51 [[ 0.99982457 0.01803464 -0.00505819 1.59260342] [-0.01795468 0.99971971 0.01543153 -0.18572347] [ 0.00533508 -0.015338 0.99986813 -0.51138232] [ 0. 0. 0. 1. ]] SLAMing on 38.67719347 meters Centerline goodness [0,1] 0.8631283738191633 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.51 [[ 0.99980532 0.01906342 -0.00508975 1.59311129] [-0.01897908 0.99968969 0.01613412 -0.18721121] [ 0.00539574 -0.01603438 0.99985688 -0.51190441] [ 0. 0. 0. 1. ]] SLAMing on 38.70719346999999 meters Centerline goodness [0,1] 0.8524878539118781 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.51 [[ 0.99978924 0.01990477 -0.005027 1.59361052] [-0.01981741 0.99966132 0.01686749 -0.18922799] [ 0.00536104 -0.01676431 0.9998451 -0.5126327 ] [ 0. 0. 0. 1. ]] SLAMing on 38.737193469999994 meters Centerline goodness [0,1] 0.8427599204271804 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.51 [[ 0.9997582 0.0214775 -0.00471776 1.5938581 ] [-0.02138562 0.99959581 0.01873157 -0.19273256] [ 0.00511817 -0.01862615 0.99981342 -0.51352038] [ 0. 0. 0. 1. ]] SLAMing on 38.767193469999995 meters Centerline goodness [0,1] 0.8373730619750094 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.19, Z:-0.51 [[ 0.99974642 0.02196564 -0.00496055 1.59515979] [-0.02186485 0.99957011 0.01953238 -0.19448497] [ 0.00538745 -0.01941897 0.99979692 -0.51461446] [ 0. 0. 0. 1. ]] SLAMing on 38.797193469999996 meters Centerline goodness [0,1] 0.836033781670316 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.20, Z:-0.52 [[ 0.99975777 0.02130287 -0.00552985 1.59827848] [-0.02119339 0.9995919 0.0191538 -0.19689932] [ 0.00593563 -0.01903197 0.99980126 -0.51717231] [ 0. 0. 0. 1. ]] SLAMing on 38.82719347 meters Centerline goodness [0,1] 0.830339657604919 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.20, Z:-0.52 [[ 0.99979111 0.01951534 -0.00607415 1.60065304] [-0.01940593 0.99965714 0.01757873 -0.20106767] [ 0.00641512 -0.01745718 0.99982703 -0.51899818] [ 0. 0. 0. 1. ]] SLAMing on 38.85719347 meters Centerline goodness [0,1] 0.7755955742402376 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.21, Z:-0.52 [[ 0.99982761 0.0172066 -0.00697704 1.60371376] [-0.01709802 0.99973622 0.01533463 -0.21465659] [ 0.00723905 -0.01521269 0.99985808 -0.52038986] [ 0. 0. 0. 1. ]] SLAMing on 38.88719346999999 meters Centerline goodness [0,1] 0.8067478912839737 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.22, Z:-0.52 [[ 0.9998658 0.01481343 -0.0069957 1.6037615 ] [-0.01471756 0.9997997 0.01356272 -0.22058377] [ 0.00719521 -0.01345794 0.99988355 -0.52042858] [ 0. 0. 0. 1. ]] SLAMing on 38.917193469999994 meters Centerline goodness [0,1] 0.7963005586825971 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.23, Z:-0.52 [[ 0.99989917 0.0124072 -0.00690732 1.60313151] [-0.01232537 0.99985481 0.01176636 -0.22578562] [ 0.00705231 -0.01168004 0.99990692 -0.51984036] [ 0. 0. 0. 1. ]] SLAMing on 38.947193469999995 meters Centerline goodness [0,1] 0.7967525665200084 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.24, Z:-0.52 [[ 0.99989773 0.01254309 -0.00687074 1.60331839] [-0.01245105 0.99983432 0.01327811 -0.23681875] [ 0.00703615 -0.0131912 0.99988824 -0.51984991] [ 0. 0. 0. 1. ]] SLAMing on 38.977193469999996 meters Centerline goodness [0,1] 0.778504849874808 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.24, Z:-0.52 [[ 0.99992427 0.01015955 -0.00694566 1.60350244] [-0.01007818 0.99988133 0.01165137 -0.24232797] [ 0.00706321 -0.01158049 0.999908 -0.51986184] [ 0. 0. 0. 1. ]] SLAMing on 39.00719347 meters Centerline goodness [0,1] 0.7766902795825125 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.25, Z:-0.52 [[ 0.9999445 0.00771747 -0.00717239 1.60458449] [-0.00764178 0.99991545 0.01052097 -0.25047581] [ 0.00725298 -0.01046558 0.99991893 -0.52054879] [ 0. 0. 0. 1. ]] SLAMing on 39.03719347 meters Centerline goodness [0,1] 0.7766902795825125 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.25, Z:-0.52 [[ 0.9999445 0.00771747 -0.00717239 1.60458449] [-0.00764178 0.99991545 0.01052097 -0.25047581] [ 0.00725298 -0.01046558 0.99991893 -0.52054879] [ 0. 0. 0. 1. ]] SLAMing on 39.06719346999999 meters Centerline goodness [0,1] 0.819065373578266 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.27, Z:-0.52 [[ 0.99997823 -0.00267396 -0.00603296 1.60397705] [ 0.00273285 0.99994851 0.00977321 -0.27341045] [ 0.00600652 -0.00978949 0.99993404 -0.52026705] [ 0. 0. 0. 1. ]] SLAMing on 39.09719346999999 meters Centerline goodness [0,1] 0.836028873313108 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.28, Z:-0.52 [[ 0.99994362 -0.00888978 -0.00580701 1.60366687] [ 0.00892293 0.9999439 0.00570773 -0.28315599] [ 0.00575595 -0.00575922 0.99996685 -0.51979615] [ 0. 0. 0. 1. ]] SLAMing on 39.127193469999995 meters Centerline goodness [0,1] 0.8498082524780486 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.29, Z:-0.52 [[ 9.99875065e-01 -1.48166061e-02 -5.50663709e-03 1.60305423e+00] [ 1.48256264e-02 9.99888813e-01 1.60089216e-03 -2.92108111e-01] [ 5.48230504e-03 -1.68233150e-03 9.99983557e-01 -5.19059036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157193469999996 meters Centerline goodness [0,1] 0.8610697898552243 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.30, Z:-0.52 [[ 0.99977215 -0.02058989 -0.00563122 1.60420298] [ 0.02057573 0.99978502 -0.00256136 -0.30066161] [ 0.00568275 0.00244491 0.99998086 -0.51962432] [ 0. 0. 0. 1. ]] SLAMing on 39.18719347 meters Centerline goodness [0,1] 0.866415030681315 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.32, Z:-0.52 [[ 9.99618100e-01 -2.69120950e-02 -6.27637512e-03 1.60618729e+00] [ 2.69119126e-02 9.99637802e-01 -1.13542181e-04 -3.21614077e-01] [ 6.27715749e-03 -5.54104391e-05 9.99980297e-01 -5.19027952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21719347 meters Centerline goodness [0,1] 0.869109395435177 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.33, Z:-0.52 [[ 9.99560613e-01 -2.89222683e-02 -6.48710198e-03 1.60787699e+00] [ 2.89190798e-02 9.99581585e-01 -5.84808355e-04 -3.29664922e-01] [ 6.50130166e-03 3.96950378e-04 9.99978788e-01 -5.20134005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24719347 meters Centerline goodness [0,1] 0.8697008394916993 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.34, Z:-0.52 [[ 9.99538618e-01 -2.94997230e-02 -7.23313652e-03 1.61122943e+00] [ 2.95004749e-02 9.99564766e-01 -2.73946391e-06 -3.36644439e-01] [ 7.23006923e-03 -2.10642763e-04 9.99973841e-01 -5.22341183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27719346999999 meters Centerline goodness [0,1] 0.868381304019468 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.35, Z:-0.53 [[ 0.99953183 -0.02940933 -0.00843844 1.61793614] [ 0.02942694 0.99956499 0.00196969 -0.34931574] [ 0.00837685 -0.00221708 0.99996246 -0.52777188] [ 0. 0. 0. 1. ]] SLAMing on 39.307193469999994 meters Centerline goodness [0,1] 0.8674245625898065 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.36, Z:-0.53 [[ 0.99956516 -0.02819066 -0.00864716 1.61922743] [ 0.02822842 0.99959235 0.00427653 -0.35598341] [ 0.00852308 -0.00451877 0.99995347 -0.52873854] [ 0. 0. 0. 1. ]] SLAMing on 39.337193469999995 meters Centerline goodness [0,1] 0.8651867779745341 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.36, Z:-0.53 [[ 0.99957275 -0.02771312 -0.00928956 1.62218949] [ 0.0277666 0.99959831 0.00567756 -0.36250234] [ 0.00912848 -0.00593308 0.99994073 -0.53068654] [ 0. 0. 0. 1. ]] SLAMing on 39.36719347 meters Centerline goodness [0,1] 0.8669922738468664 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.37, Z:-0.53 [[ 0.99958915 -0.02695301 -0.00975013 1.62402634] [ 0.02702945 0.99960424 0.00779529 -0.37353478] [ 0.00953616 -0.00805562 0.99992208 -0.53147305] [ 0. 0. 0. 1. ]] SLAMing on 39.39719347 meters Centerline goodness [0,1] 0.8669100424149064 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.38, Z:-0.53 [[ 0.99960349 -0.02634112 -0.00994992 1.62410449] [ 0.02643401 0.99960709 0.00932253 -0.37857223] [ 0.00970044 -0.00958185 0.99990704 -0.53082859] [ 0. 0. 0. 1. ]] SLAMing on 39.42719347 meters Centerline goodness [0,1] 0.8650865233350813 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.39, Z:-0.53 [[ 0.99965209 -0.02629033 -0.00212526 1.63293583] [ 0.02630353 0.99963325 0.0064418 -0.3887758 ] [ 0.00195512 -0.00649546 0.99997699 -0.5278019 ] [ 0. 0. 0. 1. ]] SLAMing on 39.45719346999999 meters Centerline goodness [0,1] 0.863810635105851 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.39, Z:-0.53 [[ 0.99963029 -0.02705354 -0.00271752 1.63365448] [ 0.02706946 0.99961553 0.00600327 -0.39424641] [ 0.00255406 -0.00607461 0.99997829 -0.52711222] [ 0. 0. 0. 1. ]] SLAMing on 39.487193469999994 meters Centerline goodness [0,1] 0.8645610950646742 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.40, Z:-0.53 [[ 0.99966274 -0.02582784 -0.00270777 1.6329311 ] [ 0.02584928 0.99963216 0.00820712 -0.39981441] [ 0.0024948 -0.00827435 0.99996265 -0.52593649] [ 0. 0. 0. 1. ]] SLAMing on 39.517193469999995 meters Centerline goodness [0,1] 0.865098879852048 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.41, Z:-0.53 [[ 0.99964156 -0.02668837 -0.00211515 1.631989 ] [ 0.0267058 0.99960557 0.0086897 -0.40905714] [ 0.0018824 -0.00874307 0.99996001 -0.52553203] [ 0. 0. 0. 1. ]] SLAMing on 39.547193469999996 meters Centerline goodness [0,1] 0.8636946693302492 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.42, Z:-0.53 [[ 0.9996515 -0.02630233 -0.0022498 1.63242431] [ 0.02632422 0.99960009 0.0103295 -0.41510051] [ 0.00197721 -0.01038513 0.99994412 -0.52536566] [ 0. 0. 0. 1. ]] SLAMing on 39.57719347 meters Centerline goodness [0,1] 0.8626377085300598 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.42, Z:-0.53 [[ 0.99957933 -0.02890576 -0.002369 1.63355382] [ 0.02892513 0.99954464 0.00859347 -0.42027035] [ 0.00211952 -0.00865838 0.99996027 -0.52607261] [ 0. 0. 0. 1. ]] SLAMing on 39.60719347 meters Centerline goodness [0,1] 0.8628141440818294 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:-0.53 [[ 0.99950443 -0.03136191 -0.00270767 1.6360532 ] [ 0.03138072 0.9994815 0.0072098 -0.4257189 ] [ 0.00248015 -0.00729119 0.99997034 -0.52792942] [ 0. 0. 0. 1. ]] SLAMing on 39.63719346999999 meters Centerline goodness [0,1] 0.8640719445673006 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:-0.53 [[ 0.99936421 -0.03549415 -0.00336846 1.64075513] [ 0.03551249 0.99935382 0.0055506 -0.43463609] [ 0.00316927 -0.00566669 0.99997892 -0.53167101] [ 0. 0. 0. 1. ]] SLAMing on 39.667193469999994 meters Centerline goodness [0,1] 0.8644107105207675 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.44, Z:-0.53 [[ 0.9993392 -0.03613925 -0.00388743 1.64281765] [ 0.03616223 0.99932784 0.00601377 -0.43986384] [ 0.00366748 -0.00615037 0.99997436 -0.53260965] [ 0. 0. 0. 1. ]] SLAMing on 39.697193469999995 meters Centerline goodness [0,1] 0.8652859585787573 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.44, Z:-0.53 [[ 0.99921264 -0.03947356 -0.0039927 1.64325258] [ 0.03948661 0.99921484 0.00324273 -0.44375015] [ 0.00386156 -0.00339783 0.99998677 -0.53240697] [ 0. 0. 0. 1. ]] SLAMing on 39.727193469999996 meters Centerline goodness [0,1] 0.8670894023103968 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.45, Z:-0.53 [[ 9.99080001e-01 -4.26820699e-02 -4.17034165e-03 1.64391679e+00] [ 4.26846130e-02 9.99088460e-01 5.22673879e-04 -4.47888993e-01] [ 4.14423142e-03 -7.00202439e-04 9.99991167e-01 -5.32318822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75719347 meters Centerline goodness [0,1] 0.8706720126968216 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.53 [[ 9.98954298e-01 -4.55250540e-02 -4.21662986e-03 1.64515676e+00] [ 4.55213823e-02 9.98962901e-01 -9.62731010e-04 -4.55306855e-01] [ 4.25608518e-03 7.69777460e-04 9.99990647e-01 -5.32938831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78719347 meters Centerline goodness [0,1] 0.871593368494043 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.53 [[ 9.98948665e-01 -4.56304299e-02 -4.40785784e-03 1.64619881e+00] [ 4.56301909e-02 9.98958388e-01 -1.54829029e-04 -4.58190583e-01] [ 4.41033148e-03 -4.64651423e-05 9.99990273e-01 -5.33562547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81719346999999 meters Centerline goodness [0,1] 0.8765789802809856 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.54 [[ 9.98896808e-01 -4.66884069e-02 -5.03576763e-03 1.64919076e+00] [ 4.66870198e-02 9.98909489e-01 -3.92708063e-04 -4.60151839e-01] [ 5.04861098e-03 1.57169847e-04 9.99987243e-01 -5.35582627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84719346999999 meters Centerline goodness [0,1] 0.8830064261413751 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.54 [[ 0.99853099 -0.05395517 -0.00497005 1.65210275] [ 0.05392433 0.99852613 -0.00614356 -0.4634865 ] [ 0.0052942 0.00586653 0.99996878 -0.5379798 ] [ 0. 0. 0. 1. ]] SLAMing on 39.877193469999995 meters Centerline goodness [0,1] 0.8837951301427371 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.47, Z:-0.54 [[ 0.99829213 -0.058221 -0.00481047 1.65195526] [ 0.05817292 0.99826043 -0.00959329 -0.4657024 ] [ 0.00536063 0.00929706 0.99994241 -0.53721084] [ 0. 0. 0. 1. ]] SLAMing on 39.907193469999996 meters Centerline goodness [0,1] 0.8814639361100048 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.47, Z:-0.54 [[ 0.9980355 -0.06247967 -0.00462921 1.65150037] [ 0.06241477 0.99796508 -0.01304233 -0.46818249] [ 0.00543467 0.01272778 0.99990423 -0.53595061] [ 0. 0. 0. 1. ]] SLAMing on 39.93719347 meters Centerline goodness [0,1] 0.8744688012790844 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.47, Z:-0.53 [[ 0.99742654 -0.07158658 -0.00395734 1.65110176] [ 0.07148693 0.99721453 -0.02127909 -0.47016513] [ 0.00546962 0.02094143 0.99976574 -0.53488022] [ 0. 0. 0. 1. ]] SLAMing on 39.96719347 meters Centerline goodness [0,1] 0.8686059229345449 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.47, Z:-0.54 [[ 0.99736351 -0.07244872 -0.00414939 1.65212038] [ 0.07234096 0.99713808 -0.02196433 -0.46936534] [ 0.0057288 0.02160625 0.99975014 -0.53552576] [ 0. 0. 0. 1. ]] SLAMing on 39.99719347 meters Centerline goodness [0,1] 0.8643009346188738 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.47, Z:-0.54 [[ 0.99751421 -0.07031128 -0.00466161 1.65422623] [ 0.07020835 0.99734288 -0.01944117 -0.4674363 ] [ 0.00601616 0.01906556 0.99980014 -0.53722336] [ 0. 0. 0. 1. ]] SLAMing on 40.02719346999999 meters Centerline goodness [0,1] 0.8598350506809931 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.46, Z:-0.54 [[ 0.99767337 -0.06797033 -0.00527961 1.65649702] [ 0.06787111 0.99754715 -0.0171232 -0.46381504] [ 0.00643053 0.01672503 0.99983945 -0.53910151] [ 0. 0. 0. 1. ]] SLAMing on 40.057193469999994 meters Centerline goodness [0,1] 0.8556357344811579 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.54 [[ 0.99794473 -0.06374155 -0.00658239 1.66115992] [ 0.06365308 0.99788905 -0.01287341 -0.45498712] [ 0.00738906 0.01242796 0.99989547 -0.54246251] [ 0. 0. 0. 1. ]] SLAMing on 40.087193469999995 meters Centerline goodness [0,1] 0.851054914203105 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.54 [[ 0.99805921 -0.06181307 -0.00754692 1.66441194] [ 0.06172651 0.99803015 -0.01120939 -0.4519635 ] [ 0.00822494 0.01072179 0.99990869 -0.54458207] [ 0. 0. 0. 1. ]] SLAMing on 40.11719347 meters Centerline goodness [0,1] 0.8464276740095485 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.44, Z:-0.54 [[ 0.99819234 -0.05955486 -0.00807848 1.66491072] [ 0.05946843 0.99817447 -0.01054671 -0.44282189] [ 0.00869184 0.01004723 0.99991175 -0.54464552] [ 0. 0. 0. 1. ]] SLAMing on 40.14719347 meters Centerline goodness [0,1] 0.8606220105687491 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.54 [[ 0.99837613 -0.05633258 -0.00847061 1.66509837] [ 0.05626292 0.99838191 -0.0082488 -0.4375317 ] [ 0.00892158 0.00775883 0.9999301 -0.54449506] [ 0. 0. 0. 1. ]] SLAMing on 40.17719347 meters Centerline goodness [0,1] 0.8710285462961024 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.43, Z:-0.54 [[ 0.99855743 -0.05297897 -0.0087343 1.66486088] [ 0.05292703 0.9985799 -0.00607498 -0.4314184 ] [ 0.00904374 0.00560393 0.9999434 -0.54419653] [ 0. 0. 0. 1. ]] SLAMing on 40.20719346999999 meters Centerline goodness [0,1] 0.8795964172592453 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.43, Z:-0.54 [[ 9.98835647e-01 -4.73750262e-02 -9.10803200e-03 1.66460148e+00] [ 4.73657934e-02 9.98876857e-01 -1.22687575e-03 -4.25866419e-01] [ 9.15592565e-03 7.94038074e-04 9.99957768e-01 -5.43758293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237193469999994 meters Centerline goodness [0,1] 0.8931472347570574 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:-0.55 [[ 9.99118011e-01 -4.07958759e-02 -9.94472408e-03 1.66563781e+00] [ 4.08081551e-02 9.99166464e-01 1.03488211e-03 -4.09601624e-01] [ 9.89421588e-03 -1.43979519e-03 9.99950014e-01 -5.45938254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267193469999995 meters Centerline goodness [0,1] 0.8965153782912073 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:-0.55 [[ 0.99925822 -0.03717069 -0.01006678 1.66555386] [ 0.0372061 0.99930199 0.00335294 -0.4020532 ] [ 0.00993513 -0.00372499 0.99994371 -0.54614716] [ 0. 0. 0. 1. ]] SLAMing on 40.297193469999996 meters Centerline goodness [0,1] 0.8999052332315468 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.39, Z:-0.55 [[ 0.99947834 -0.03030127 -0.01117463 1.6668632 ] [ 0.03035986 0.99952596 0.00511149 -0.38639285] [ 0.01101445 -0.00544809 0.9999245 -0.54830381] [ 0. 0. 0. 1. ]] SLAMing on 40.32719347 meters Centerline goodness [0,1] 0.9033737853955545 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.38, Z:-0.55 [[ 9.99698961e-01 -2.36687722e-02 -6.46351375e-03 1.67892136e+00] [ 2.36765382e-02 9.99719036e-01 1.12763533e-03 -3.79059286e-01] [ 6.43500799e-03 -1.28032949e-03 9.99978475e-01 -5.51839661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35719347 meters Centerline goodness [0,1] 0.9022741629816804 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.37, Z:-0.55 [[ 0.99977745 -0.01998172 -0.00676606 1.67894692] [ 0.02000791 0.99979251 0.00382477 -0.37436251] [ 0.00668823 -0.00395929 0.9999698 -0.55136679] [ 0. 0. 0. 1. ]] SLAMing on 40.38719346999999 meters Centerline goodness [0,1] 0.9032871502309155 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.37, Z:-0.55 [[ 0.99986425 -0.0163562 -0.00199127 1.68863218] [ 0.01634839 0.99985884 -0.00387707 -0.36913613] [ 0.00205441 0.00384399 0.9999905 -0.5537495 ] [ 0. 0. 0. 1. ]] SLAMing on 40.417193469999994 meters Centerline goodness [0,1] 0.9043089092422981 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.36, Z:-0.55 [[ 0.99990386 -0.01366823 -0.0023356 1.688851 ] [ 0.01366287 0.99990403 -0.00229392 -0.36182249] [ 0.00236673 0.00226179 0.99999464 -0.55323523] [ 0. 0. 0. 1. ]] SLAMing on 40.447193469999995 meters Centerline goodness [0,1] 0.9049014886622977 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.36, Z:-0.55 [[ 9.99945051e-01 -1.01838804e-02 -2.48677293e-03 1.68880491e+00] [ 1.01859555e-02 9.99947783e-01 8.23223516e-04 -3.58906792e-01] [ 2.47825947e-03 -8.48508439e-04 9.99996569e-01 -5.52799765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.477193469999996 meters Centerline goodness [0,1] 0.9025447690857682 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.36, Z:-0.55 [[ 0.99997443 -0.00664044 -0.00265558 1.68879726] [ 0.00665089 0.99997011 0.00394364 -0.35638829] [ 0.00262932 -0.0039612 0.9999887 -0.55228355] [ 0. 0. 0. 1. ]] SLAMing on 40.50719347 meters Centerline goodness [0,1] 0.9020407305437044 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.35, Z:-0.55 [[ 0.99998136 -0.00558697 -0.00246148 1.68685011] [ 0.00559727 0.99997551 0.00420099 -0.35365208] [ 0.00243795 -0.00421469 0.99998815 -0.55023937] [ 0. 0. 0. 1. ]] SLAMing on 40.53719347 meters Centerline goodness [0,1] 0.904700148513816 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.35, Z:-0.55 [[ 9.99998505e-01 -1.95723676e-04 -1.71785132e-03 1.69248003e+00] [ 1.90598531e-04 9.99995532e-01 -2.98311922e-03 -3.49659117e-01] [ 1.71842751e-03 2.98278734e-03 9.99994075e-01 -5.46189012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56719346999999 meters Centerline goodness [0,1] 0.9038701883019497 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.35, Z:-0.55 [[ 9.99994414e-01 2.80208745e-03 -1.82226624e-03 1.69279246e+00] [-2.80200184e-03 9.99996073e-01 4.95304260e-05 -3.47921938e-01] [ 1.82239787e-03 -4.44241560e-05 9.99998338e-01 -5.46077114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59719346999999 meters Centerline goodness [0,1] 0.9050242029711233 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.55 [[ 9.99988499e-01 4.33781057e-03 -2.04586414e-03 1.69367953e+00] [-4.33636536e-03 9.99990346e-01 7.10312051e-04 -3.39491962e-01] [ 2.04892558e-03 -7.01432268e-04 9.99997655e-01 -5.46574270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.627193469999995 meters Centerline goodness [0,1] 0.9043695748124172 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.55 [[ 9.99990200e-01 3.81695299e-03 -2.24283151e-03 1.69401352e+00] [-3.81771916e-03 9.99992656e-01 -3.37423866e-04 -3.36424206e-01] [ 2.24152710e-03 3.45983061e-04 9.99997428e-01 -5.46468670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.657193469999996 meters Centerline goodness [0,1] 0.9045226130653267 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.55 [[ 9.99991514e-01 3.15267696e-03 -2.65208176e-03 1.69484308e+00] [-3.15573311e-03 9.99994361e-01 -1.14896467e-03 -3.35521339e-01] [ 2.64844449e-03 1.15732418e-03 9.99995823e-01 -5.46406313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68719347 meters Centerline goodness [0,1] 0.90551395792697 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.33, Z:-0.55 [[ 0.99999331 0.00226291 -0.00287215 1.6948706 ] [-0.00226895 0.99999522 -0.0021015 -0.33496808] [ 0.00286738 0.002108 0.99999367 -0.5456766 ] [ 0. 0. 0. 1. ]] SLAMing on 40.71719347 meters Centerline goodness [0,1] 0.9063371197936171 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.33, Z:-0.55 [[ 0.99999344 0.00174809 -0.00317221 1.69609355] [-0.00175727 0.99999427 -0.00289199 -0.33300636] [ 0.00316713 0.00289754 0.99999079 -0.54647996] [ 0. 0. 0. 1. ]] SLAMing on 40.74719347 meters Centerline goodness [0,1] 0.9071773132582955 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.33, Z:-0.55 [[ 9.99993057e-01 1.45893795e-03 -3.42879557e-03 1.69726437e+00] [-1.47093518e-03 9.99992796e-01 -3.49904775e-03 -3.30287748e-01] [ 3.42366598e-03 3.50406699e-03 9.99988000e-01 -5.47425930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77719346999999 meters Centerline goodness [0,1] 0.9074852292585504 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.33, Z:-0.55 [[ 0.99998782 0.00234095 -0.00434583 1.7021862 ] [-0.00235181 0.99999412 -0.00249491 -0.32683413] [ 0.00433997 0.0025051 0.99998744 -0.55117591] [ 0. 0. 0. 1. ]] SLAMing on 40.807193469999994 meters Centerline goodness [0,1] 0.9068714767702593 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.33, Z:-0.55 [[ 0.99998695 0.00248075 -0.00446658 1.70191389] [-0.00249095 0.9999943 -0.00227901 -0.32728268] [ 0.0044609 0.00229011 0.99998743 -0.55044224] [ 0. 0. 0. 1. ]] SLAMing on 40.837193469999995 meters Centerline goodness [0,1] 0.906945690500532 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.33, Z:-0.55 [[ 0.99998546 0.00263535 -0.00470391 1.70217579] [-0.00264517 0.99999433 -0.00208242 -0.32843238] [ 0.00469839 0.00209483 0.99998677 -0.55007395] [ 0. 0. 0. 1. ]] SLAMing on 40.86719347 meters Centerline goodness [0,1] 0.9070937059405315 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.33, Z:-0.55 [[ 9.99982256e-01 3.47606455e-03 -4.83785009e-03 1.70213908e+00] [-3.48353678e-03 9.99992751e-01 -1.53696695e-03 -3.29160063e-01] [ 4.83247242e-03 1.55379251e-03 9.99987116e-01 -5.49655411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89719347 meters Centerline goodness [0,1] 0.903298755186722 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.33, Z:-0.55 [[ 9.99903423e-01 1.38859821e-02 -5.69207752e-04 1.71548377e+00] [-1.38872766e-02 9.99900836e-01 -2.33703945e-03 -3.26627518e-01] [ 5.36699219e-04 2.34471849e-03 9.99997107e-01 -5.54565838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92719347 meters Centerline goodness [0,1] 0.903298755186722 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.33, Z:-0.55 [[ 9.99903423e-01 1.38859821e-02 -5.69207752e-04 1.71548377e+00] [-1.38872766e-02 9.99900836e-01 -2.33703945e-03 -3.26627518e-01] [ 5.36699219e-04 2.34471849e-03 9.99997107e-01 -5.54565838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95719346999999 meters Centerline goodness [0,1] 0.901188097991799 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.33, Z:-0.55 [[ 9.99805744e-01 1.97087863e-02 -1.95515356e-04 1.71379143e+00] [-1.97081272e-02 9.99801458e-01 2.93829103e-03 -3.25014313e-01] [ 2.53386688e-04 -2.93386701e-03 9.99995664e-01 -5.53087935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987193469999994 meters Centerline goodness [0,1] 0.8922900365153886 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.55 [[ 9.99709809e-01 2.40869437e-02 -3.40853165e-04 1.71423090e+00] [-2.40839320e-02 9.99684913e-01 7.07380671e-03 -3.24674413e-01] [ 5.11132151e-04 -7.06354487e-03 9.99974922e-01 -5.52963189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017193469999995 meters Centerline goodness [0,1] 0.887203055485604 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.33, Z:-0.55 [[ 9.99679684e-01 2.53055008e-02 -4.01774146e-04 1.71457461e+00] [-2.53012067e-02 9.99644177e-01 8.44792329e-03 -3.28755434e-01] [ 6.15410115e-04 -8.43505191e-03 9.99964235e-01 -5.53283847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047193469999996 meters Centerline goodness [0,1] 0.8919595347761162 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.33, Z:-0.55 [[ 9.99767890e-01 2.15395366e-02 -4.63658997e-04 1.71493468e+00] [-2.15370829e-02 9.99756673e-01 4.76962439e-03 -3.29969053e-01] [ 5.66281675e-04 -4.75853145e-03 9.99988518e-01 -5.53873921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07719347 meters Centerline goodness [0,1] 0.8945781240183451 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.33, Z:-0.55 [[ 9.99844352e-01 1.76297887e-02 -6.80632802e-04 1.71530156e+00] [-1.76288931e-02 9.99843754e-01 1.30010803e-03 -3.31712019e-01] [ 7.03447086e-04 -1.28790687e-03 9.99998923e-01 -5.53983323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10719347 meters Centerline goodness [0,1] 0.8988001758904454 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.33, Z:-0.55 [[ 9.99907896e-01 1.35490126e-02 -7.89545809e-04 1.71521527e+00] [-1.35506952e-02 9.99905839e-01 -2.16623807e-03 -3.33621221e-01] [ 7.60121077e-04 2.17673745e-03 9.99997342e-01 -5.53606309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13719346999999 meters Centerline goodness [0,1] 0.9041687531296946 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:-0.55 [[ 9.99980129e-01 6.24862772e-03 -8.34273022e-04 1.71436767e+00] [-6.25516041e-03 9.99947857e-01 -8.07196071e-03 -3.39424084e-01] [ 7.83790842e-04 8.07701883e-03 9.99967073e-01 -5.52274354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167193469999994 meters Centerline goodness [0,1] 0.9064383791024783 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:-0.55 [[ 9.99983852e-01 5.62556074e-03 -8.05368841e-04 1.71445125e+00] [-5.63153477e-03 9.99955122e-01 -7.61832206e-03 -3.42959437e-01] [ 7.62475364e-04 7.62273451e-03 9.99970656e-01 -5.52198110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197193469999995 meters Centerline goodness [0,1] 0.9074089665333613 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:-0.55 [[ 9.99985715e-01 5.28972909e-03 -7.67376717e-04 1.71454484e+00] [-5.29510324e-03 9.99960211e-01 -7.17897409e-03 -3.45199753e-01] [ 7.29371356e-04 7.18293488e-03 9.99973936e-01 -5.52241781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227193469999996 meters Centerline goodness [0,1] 0.9079768689588944 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.35, Z:-0.56 [[ 9.99997227e-01 1.79561444e-03 -1.52394218e-03 1.71878055e+00] [-1.81074829e-03 9.99948478e-01 -9.98813320e-03 -3.46421446e-01] [ 1.50592883e-03 9.99086497e-03 9.99948956e-01 -5.55703446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25719347 meters Centerline goodness [0,1] 0.9068221016977329 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.35, Z:-0.56 [[ 9.99997242e-01 8.71945588e-05 -2.34695375e-03 1.72212069e+00] [-1.13405898e-04 9.99937602e-01 -1.11704234e-02 -3.46798858e-01] [ 2.34583331e-03 1.11706587e-02 9.99934855e-01 -5.57841552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28719347 meters Centerline goodness [0,1] 0.9066413820409694 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.35, Z:-0.56 [[ 9.99996313e-01 -7.68995615e-04 -2.60436459e-03 1.72315117e+00] [ 7.39398601e-04 9.99935355e-01 -1.13463487e-02 -3.47815061e-01] [ 2.61292152e-03 1.13443812e-02 9.99932237e-01 -5.58377961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31719346999999 meters Centerline goodness [0,1] 0.9061808992313363 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:-0.55 [[ 0.99995312 -0.0077834 -0.00575959 1.71205452] [ 0.0077469 0.99994994 -0.00633243 -0.34664708] [ 0.00580859 0.00628751 0.99996336 -0.55466513] [ 0. 0. 0. 1. ]] SLAMing on 41.34719346999999 meters Centerline goodness [0,1] 0.9041644702161308 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:-0.55 [[ 0.99994572 -0.00865269 -0.00580441 1.71175298] [ 0.00861222 0.99993868 -0.00696144 -0.34578325] [ 0.00586429 0.00691107 0.99995892 -0.55388364] [ 0. 0. 0. 1. ]] SLAMing on 41.377193469999995 meters Centerline goodness [0,1] 0.9041735597763492 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:-0.55 [[ 0.99993696 -0.00964758 -0.00574458 1.71116943] [ 0.00960383 0.99992504 -0.00759413 -0.3452915 ] [ 0.00581742 0.00753848 0.99995466 -0.55278417] [ 0. 0. 0. 1. ]] SLAMing on 41.407193469999996 meters Centerline goodness [0,1] 0.8998788182691906 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:-0.55 [[ 0.9999277 -0.01065326 -0.0055763 1.71012719] [ 0.01060712 0.9999098 -0.00823906 -0.34468377] [ 0.00566357 0.00817932 0.99995051 -0.55142877] [ 0. 0. 0. 1. ]] SLAMing on 41.43719347 meters Centerline goodness [0,1] 0.8894153499342503 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:-0.55 [[ 0.99991612 -0.01167315 -0.00561095 1.70982979] [ 0.01162174 0.99989098 -0.00910878 -0.34300752] [ 0.00571667 0.00904281 0.99994277 -0.55072956] [ 0. 0. 0. 1. ]] SLAMing on 41.46719347 meters Centerline goodness [0,1] 0.8450015734815903 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:-0.55 [[ 0.99987488 -0.01468528 -0.00587942 1.71238615] [ 0.01461252 0.99981841 -0.01223209 -0.33655751] [ 0.00605798 0.01214465 0.9999079 -0.55306205] [ 0. 0. 0. 1. ]] SLAMing on 41.49719347 meters Centerline goodness [0,1] 0.844353655981563 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.33, Z:-0.55 [[ 0.99985044 -0.01614449 -0.0062011 1.71452784] [ 0.01605735 0.99977509 -0.01385383 -0.33326567] [ 0.00642336 0.01375219 0.9998848 -0.5549735 ] [ 0. 0. 0. 1. ]] SLAMing on 41.52719346999999 meters Centerline goodness [0,1] 0.8047480620155039 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.33, Z:-0.56 [[ 0.99979309 -0.01924566 -0.00658672 1.71798366] [ 0.01912917 0.99966709 -0.01731413 -0.32634888] [ 0.00691775 0.01718454 0.9998284 -0.55819238] [ 0. 0. 0. 1. ]] SLAMing on 41.557193469999994 meters Centerline goodness [0,1] 0.7941269008914525 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.56 [[ 0.99976917 -0.02038792 -0.00677743 1.71926337] [ 0.02025685 0.99961661 -0.01887573 -0.32248368] [ 0.00715967 0.01873408 0.99979887 -0.55930249] [ 0. 0. 0. 1. ]] SLAMing on 41.587193469999995 meters Centerline goodness [0,1] 0.7536259143155695 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.32, Z:-0.56 [[ 0.99979491 -0.01893413 -0.00718629 1.72140662] [ 0.01880749 0.99967344 -0.01729983 -0.31932364] [ 0.0075115 0.01716113 0.99982452 -0.56090747] [ 0. 0. 0. 1. ]] SLAMing on 41.61719347 meters Centerline goodness [0,1] 0.7806259377443419 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.31, Z:-0.56 [[ 0.99981742 -0.01747048 -0.00773952 1.72416787] [ 0.01733451 0.99970006 -0.01730027 -0.31002095] [ 0.00803944 0.01716296 0.99982038 -0.56312926] [ 0. 0. 0. 1. ]] SLAMing on 41.64719347 meters Centerline goodness [0,1] 0.7653918204971689 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.31, Z:-0.56 [[ 0.99985678 -0.01481353 -0.00818445 1.72596836] [ 0.01468785 0.99977646 -0.01520817 -0.3059748 ] [ 0.0084079 0.01508578 0.99985085 -0.56439948] [ 0. 0. 0. 1. ]] SLAMing on 41.67719347 meters Centerline goodness [0,1] 0.7652717652717653 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.30, Z:-0.57 [[ 0.99988763 -0.01231901 -0.00854173 1.72766008] [ 0.01220186 0.99983261 -0.0136332 -0.30013796] [ 0.00870825 0.01352745 0.99987058 -0.56563869] [ 0. 0. 0. 1. ]] SLAMing on 41.70719346999999 meters Centerline goodness [0,1] 0.7639343574246622 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.28, Z:-0.57 [[ 0.99995839 -0.00475806 -0.00778322 1.72600079] [ 0.00470101 0.99996207 -0.00733208 -0.28435053] [ 0.00781781 0.00729519 0.99994283 -0.56522788] [ 0. 0. 0. 1. ]] SLAMing on 41.737193469999994 meters Centerline goodness [0,1] 0.7802607857112909 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.28, Z:-0.56 [[ 9.99969852e-01 -8.60802288e-04 -7.71718002e-03 1.72517492e+00] [ 8.25750917e-04 9.99989335e-01 -4.54402848e-03 -2.75653666e-01] [ 7.72100922e-03 4.53751902e-03 9.99959898e-01 -5.63994561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.767193469999995 meters Centerline goodness [0,1] 0.8116269816338925 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.27, Z:-0.56 [[ 9.99969468e-01 1.62703816e-03 -7.64303091e-03 1.72398056e+00] [-1.65643788e-03 9.99991248e-01 -3.84185137e-03 -2.66472124e-01] [ 7.63671318e-03 3.85439428e-03 9.99963411e-01 -5.62400112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797193469999996 meters Centerline goodness [0,1] 0.8344456765068937 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.25, Z:-0.56 [[ 0.99995815 0.00695055 -0.00594956 1.72095037] [-0.00699219 0.99995101 -0.00700678 -0.2468371 ] [ 0.00590056 0.00704809 0.99995775 -0.55893981] [ 0. 0. 0. 1. ]] SLAMing on 41.82719347 meters Centerline goodness [0,1] 0.8465814108993648 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:-0.56 [[ 0.99993994 0.00913434 -0.0060564 1.72121226] [-0.00917504 0.99993528 -0.00672662 -0.23708789] [ 0.00599456 0.00678179 0.99995904 -0.55863067] [ 0. 0. 0. 1. ]] SLAMing on 41.85719347 meters Centerline goodness [0,1] 0.879583579195819 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.23, Z:-0.56 [[ 0.99988239 0.01418175 -0.00583824 1.72031793] [-0.01419998 0.99989439 -0.00309458 -0.22785005] [ 0.00579374 0.00317712 0.99997817 -0.55756795] [ 0. 0. 0. 1. ]] SLAMing on 41.88719346999999 meters Centerline goodness [0,1] 0.8798336448990737 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.22, Z:-0.56 [[ 9.99786870e-01 1.97908870e-02 -5.87670911e-03 1.72030001e+00] [-1.97866089e-02 9.99803918e-01 7.85233766e-04 -2.18053168e-01] [ 5.89109727e-03 -6.68786264e-04 9.99982424e-01 -5.56840771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917193469999994 meters Centerline goodness [0,1] 0.8990262266809683 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.19, Z:-0.56 [[ 9.99493977e-01 3.09974400e-02 -7.13779813e-03 1.72288471e+00] [-3.10019355e-02 9.99519189e-01 -5.20000414e-04 -1.94461497e-01] [ 7.11824752e-03 7.41022839e-04 9.99974390e-01 -5.56588025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947193469999995 meters Centerline goodness [0,1] 0.8996915536400896 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.19, Z:-0.56 [[ 0.99928068 0.03714623 -0.00763475 1.72559494] [-0.03711774 0.99930352 0.00383994 -0.18615105] [ 0.00777208 -0.00355379 0.99996348 -0.5581882 ] [ 0. 0. 0. 1. ]] SLAMing on 41.977193469999996 meters Centerline goodness [0,1] 0.8980864784860979 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.18, Z:-0.56 [[ 0.99915979 0.0401438 -0.00825768 1.72825287] [-0.04010445 0.99918359 0.00487704 -0.17849561] [ 0.00844673 -0.00454178 0.99995401 -0.5598076 ] [ 0. 0. 0. 1. ]] SLAMing on 42.00719347 meters Centerline goodness [0,1] 0.897694372239481 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.17, Z:-0.56 [[ 0.99889881 0.0460871 -0.00878367 1.73088795] [-0.04601375 0.99890567 0.00837842 -0.16853883] [ 0.0091602 -0.00796502 0.99992632 -0.56112335] [ 0. 0. 0. 1. ]] SLAMing on 42.03719347 meters Centerline goodness [0,1] 0.8992207245155855 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.16, Z:-0.56 [[ 0.99890085 0.04598591 -0.00907713 1.73155626] [-0.04592469 0.99892148 0.00684122 -0.16240953] [ 0.00938194 -0.00641684 0.9999354 -0.56102363] [ 0. 0. 0. 1. ]] SLAMing on 42.06719346999999 meters Centerline goodness [0,1] 0.8995703092088634 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.16, Z:-0.56 [[ 0.99874841 0.04918256 -0.00909309 1.73133556] [-0.04909825 0.9987509 0.00927353 -0.1579213 ] [ 0.00953782 -0.00881547 0.99991566 -0.56010905] [ 0. 0. 0. 1. ]] SLAMing on 42.09719346999999 meters Centerline goodness [0,1] 0.8979905960739663 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.15, Z:-0.56 [[ 0.9985708 0.05265593 -0.00914943 1.7312027 ] [-0.05254573 0.99854768 0.01189432 -0.15347498] [ 0.00976245 -0.01139656 0.9998874 -0.55913384] [ 0. 0. 0. 1. ]] SLAMing on 42.127193469999995 meters Centerline goodness [0,1] 0.8956867671691793 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.15, Z:-0.56 [[ 0.99813722 0.06080756 -0.00495192 1.74028774] [-0.06076285 0.99811408 0.00872719 -0.14656607] [ 0.00547326 -0.00841004 0.99994966 -0.56008042] [ 0. 0. 0. 1. ]] SLAMing on 42.157193469999996 meters Centerline goodness [0,1] 0.8920497362471741 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.14, Z:-0.56 [[ 0.99811274 0.06118259 -0.00525807 1.74114384] [-0.06113783 0.99809491 0.00828907 -0.14470037] [ 0.0057552 -0.00795196 0.99995182 -0.56033357] [ 0. 0. 0. 1. ]] SLAMing on 42.18719347 meters Centerline goodness [0,1] 0.8902889465797084 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.14, Z:-0.56 [[ 0.99808485 0.06162132 -0.00542651 1.74154335] [-0.06157549 0.9980684 0.00824164 -0.14410536] [ 0.00592389 -0.00789171 0.99995131 -0.56042249] [ 0. 0. 0. 1. ]] SLAMing on 42.21719347 meters Centerline goodness [0,1] 0.8870984596735427 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.14, Z:-0.56 [[ 9.97886870e-01 6.49753255e-02 -4.15261424e-05 1.75186970e+00] [-6.49752548e-02 9.97886405e-01 9.69335584e-04 -1.42864423e-01] [ 1.04421268e-04 -9.64589080e-04 9.99999529e-01 -5.63838700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24719346999999 meters Centerline goodness [0,1] 0.8862143962524572 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.14, Z:-0.56 [[ 9.97867988e-01 6.52643617e-02 -2.02758373e-04 1.75272817e+00] [-6.52640858e-02 9.97867358e-01 1.15507848e-03 -1.43084250e-01] [ 2.77711422e-04 -1.13938300e-03 9.99999312e-01 -5.64564613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27719346999999 meters Centerline goodness [0,1] 0.8829411764705882 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.14, Z:-0.57 [[ 9.97854100e-01 6.54752830e-02 -4.26537057e-04 1.75386520e+00] [-6.54745418e-02 9.97853010e-01 1.56652899e-03 -1.43983592e-01] [ 5.28190215e-04 -1.53524006e-03 9.99998682e-01 -5.65566124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307193469999994 meters Centerline goodness [0,1] 0.881110529072813 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.57 [[ 9.97991380e-01 6.33386290e-02 -1.19343036e-03 1.75675122e+00] [-6.33394091e-02 9.97991846e-01 -6.27543187e-04 -1.44862379e-01] [ 1.15128604e-03 7.01873865e-04 9.99999091e-01 -5.67749940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337193469999995 meters Centerline goodness [0,1] 0.8824709185720017 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.15, Z:-0.57 [[ 0.99840086 0.05648935 -0.00216005 1.75923752] [-0.05650177 0.99838325 -0.00619951 -0.14984785] [ 0.00180635 0.00631165 0.99997845 -0.56979845] [ 0. 0. 0. 1. ]] SLAMing on 42.36719347 meters Centerline goodness [0,1] 0.8849859071978461 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.15, Z:-0.57 [[ 0.99864143 0.05203175 -0.00282686 1.76004015] [-0.05205672 0.99859772 -0.00962717 -0.15329008] [ 0.00232198 0.00976125 0.99994966 -0.56995407] [ 0. 0. 0. 1. ]] SLAMing on 42.39719347 meters Centerline goodness [0,1] 0.890600566332784 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.16, Z:-0.57 [[ 9.99284437e-01 3.77869967e-02 -1.66041805e-03 1.75574144e+00] [-3.77967668e-02 9.99265522e-01 -6.31041579e-03 -1.61273988e-01] [ 1.42074685e-03 6.36865872e-03 9.99978711e-01 -5.67176954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42719347 meters Centerline goodness [0,1] 0.8904196024818593 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.16, Z:-0.57 [[ 9.99429584e-01 3.37111790e-02 -2.01579666e-03 1.75601418e+00] [-3.37296049e-02 9.99381581e-01 -9.93829559e-03 -1.62629195e-01] [ 1.67951839e-03 1.00006187e-02 9.99948582e-01 -5.66905478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45719346999999 meters Centerline goodness [0,1] 0.8892223795734607 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.16, Z:-0.57 [[ 0.99955624 0.02970182 -0.00226497 1.75604891] [-0.02973017 0.99946373 -0.01372489 -0.16313512] [ 0.0018561 0.01378614 0.99990324 -0.56653434] [ 0. 0. 0. 1. ]] SLAMing on 42.487193469999994 meters Centerline goodness [0,1] 0.8889870435806831 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.16, Z:-0.57 [[ 0.9996653 0.02574532 -0.00254328 1.75665551] [-0.02578617 0.99951245 -0.01760474 -0.16338543] [ 0.0020888 0.01766443 0.99984179 -0.56682842] [ 0. 0. 0. 1. ]] SLAMing on 42.517193469999995 meters Centerline goodness [0,1] 0.8852852599877851 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.16, Z:-0.57 [[ 0.99975987 0.02173935 -0.00275582 1.75703975] [-0.02179334 0.99953417 -0.02136579 -0.16441459] [ 0.00229006 0.02142071 0.99976793 -0.56696031] [ 0. 0. 0. 1. ]] SLAMing on 42.547193469999996 meters Centerline goodness [0,1] 0.8856205024618103 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.16, Z:-0.57 [[ 0.99976705 0.02138403 -0.00292688 1.7574096 ] [-0.02144196 0.99954008 -0.02144446 -0.16494322] [ 0.00246696 0.02150222 0.99976576 -0.56700872] [ 0. 0. 0. 1. ]] SLAMing on 42.57719347 meters Centerline goodness [0,1] 0.8800622725264553 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.17, Z:-0.57 [[ 0.99977897 0.02078446 -0.00316362 1.75782564] [-0.02084836 0.99954666 -0.02172155 -0.16520338] [ 0.00271071 0.02178271 0.99975905 -0.56693555] [ 0. 0. 0. 1. ]] SLAMing on 42.60719347 meters Centerline goodness [0,1] 0.8549224968579807 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.17, Z:-0.57 [[ 9.99888332e-01 1.49392473e-02 -3.77781733e-04 1.76465008e+00] [-1.49433463e-02 9.99764112e-01 -1.57612277e-02 -1.66885179e-01] [ 1.42231741e-04 1.57651130e-02 9.99875713e-01 -5.65568830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63719346999999 meters Centerline goodness [0,1] 0.8463232056362836 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.17, Z:-0.57 [[ 9.99900407e-01 1.40967596e-02 -6.77044656e-04 1.76546795e+00] [-1.41057983e-02 9.99772194e-01 -1.60183058e-02 -1.67809652e-01] [ 4.51084215e-04 1.60262607e-02 9.99871469e-01 -5.65922453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667193469999994 meters Centerline goodness [0,1] 0.8388162710446513 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.17, Z:-0.57 [[ 9.99916276e-01 1.28820932e-02 -1.22185225e-03 1.76749019e+00] [-1.29007909e-02 9.99775962e-01 -1.67807854e-02 -1.67979941e-01] [ 1.00540687e-03 1.67951434e-02 9.99858446e-01 -5.67297505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697193469999995 meters Centerline goodness [0,1] 0.8383817209936065 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.17, Z:-0.57 [[ 0.99997436 0.00617744 -0.00362224 1.76873934] [-0.00620254 0.99995654 -0.00696013 -0.16807913] [ 0.00357908 0.00698242 0.99996922 -0.56806066] [ 0. 0. 0. 1. ]] SLAMing on 42.727193469999996 meters Centerline goodness [0,1] 0.832972893526781 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.17, Z:-0.57 [[ 0.99997839 0.00556449 -0.00350147 1.76840459] [-0.00559042 0.99995669 -0.00744104 -0.16732328] [ 0.00345991 0.00746045 0.99996618 -0.56778535] [ 0. 0. 0. 1. ]] SLAMing on 42.75719347 meters Centerline goodness [0,1] 0.8439174648719355 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.17, Z:-0.57 [[ 0.99998113 0.00505531 -0.00349049 1.76835614] [-0.00508297 0.99995538 -0.00796303 -0.16627573] [ 0.00345008 0.00798062 0.9999622 -0.56763498] [ 0. 0. 0. 1. ]] SLAMing on 42.78719347 meters Centerline goodness [0,1] 0.8140488948425988 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.16, Z:-0.57 [[ 0.99998164 0.00467589 -0.00385455 1.7712755 ] [-0.00470983 0.99994979 -0.00884467 -0.16088546] [ 0.003813 0.00886266 0.99995346 -0.57008061] [ 0. 0. 0. 1. ]] SLAMing on 42.81719346999999 meters Centerline goodness [0,1] 0.8322959162215586 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.16, Z:-0.57 [[ 0.99996521 0.00747022 -0.00371226 1.7712976 ] [-0.0074935 0.9999521 -0.00629612 -0.15795121] [ 0.00366505 0.00632372 0.99997329 -0.57031393] [ 0. 0. 0. 1. ]] SLAMing on 42.84719346999999 meters Centerline goodness [0,1] 0.8322959162215586 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.16, Z:-0.57 [[ 0.99996521 0.00747022 -0.00371226 1.7712976 ] [-0.0074935 0.9999521 -0.00629612 -0.15795121] [ 0.00366505 0.00632372 0.99997329 -0.57031393] [ 0. 0. 0. 1. ]] SLAMing on 42.877193469999995 meters Centerline goodness [0,1] 0.8331869877906004 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.15, Z:-0.57 [[ 0.99994014 0.01026029 -0.00380147 1.77197188] [-0.01027606 0.99993857 -0.00415379 -0.153844 ] [ 0.00375862 0.00419261 0.99998415 -0.57066003] [ 0. 0. 0. 1. ]] SLAMing on 42.907193469999996 meters Centerline goodness [0,1] 0.8483319022387903 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.15, Z:-0.57 [[ 0.9999053 0.01321312 -0.00384684 1.77226591] [-0.01322207 0.99990991 -0.00231138 -0.14840731] [ 0.00381595 0.00236202 0.99998993 -0.5705879 ] [ 0. 0. 0. 1. ]] SLAMing on 42.93719347 meters Centerline goodness [0,1] 0.8659757044248159 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.14, Z:-0.57 [[ 0.99972264 0.02324584 -0.003778 1.77370849] [-0.02322836 0.99971957 0.00460657 -0.13600904] [ 0.00388402 -0.00451753 0.99998225 -0.5716677 ] [ 0. 0. 0. 1. ]] SLAMing on 42.96719347 meters Centerline goodness [0,1] 0.8752096963596712 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.13, Z:-0.57 [[ 0.9996281 0.02699841 -0.00384022 1.77502212] [-0.02697266 0.99961436 0.0066039 -0.12838544] [ 0.00401704 -0.00649787 0.99997082 -0.57261423] [ 0. 0. 0. 1. ]] SLAMing on 42.99719346999999 meters Centerline goodness [0,1] 0.8804040911087406 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.12, Z:-0.57 [[ 0.99952712 0.0304942 -0.00395455 1.7765919 ] [-0.03046033 0.99950102 0.00835971 -0.12106137] [ 0.0042075 -0.0082353 0.99995724 -0.57374269] [ 0. 0. 0. 1. ]] SLAMing on 43.02719346999999 meters Centerline goodness [0,1] 0.8912561679351008 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.11, Z:-0.58 [[ 0.99918682 0.04012953 -0.00391506 1.77890658] [-0.04006658 0.99908421 0.01501338 -0.11037918] [ 0.00451395 -0.01484431 0.99987963 -0.57549418] [ 0. 0. 0. 1. ]] SLAMing on 43.057193469999994 meters Centerline goodness [0,1] 0.8929041972520233 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.11, Z:-0.58 [[ 0.99903077 0.0438464 -0.00387386 1.77958208] [-0.04377205 0.99888737 0.01755087 -0.10618506] [ 0.0046391 -0.01736429 0.99983847 -0.57582646] [ 0. 0. 0. 1. ]] SLAMing on 43.087193469999995 meters Centerline goodness [0,1] 0.8967197006125734 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.10, Z:-0.58 [[ 0.99886268 0.04751845 -0.00391667 1.78040029] [-0.04742953 0.99866796 0.02031595 -0.1026315 ] [ 0.00487683 -0.02010708 0.99978594 -0.57619594] [ 0. 0. 0. 1. ]] SLAMing on 43.11719347 meters Centerline goodness [0,1] 0.900031384035987 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.10, Z:-0.58 [[ 0.99867493 0.05130493 -0.0040224 1.78158275] [-0.05119745 0.99841508 0.02336964 -0.09955022] [ 0.00521501 -0.02313274 0.9997188 -0.57691024] [ 0. 0. 0. 1. ]] SLAMing on 43.14719347 meters Centerline goodness [0,1] 0.9052415555043662 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.10, Z:-0.58 [[ 0.99831601 0.05785495 -0.00423671 1.78491158] [-0.0577088 0.99791377 0.02894483 -0.0955749 ] [ 0.00590247 -0.02865159 0.99957203 -0.57949497] [ 0. 0. 0. 1. ]] SLAMing on 43.17719347 meters Centerline goodness [0,1] 0.903509508416943 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.09, Z:-0.58 [[ 0.99829145 0.05825428 -0.00454066 1.78637533] [-0.05810121 0.99790004 0.02863145 -0.09351555] [ 0.00619903 -0.02831871 0.99957972 -0.58052191] [ 0. 0. 0. 1. ]] SLAMing on 43.20719346999999 meters Centerline goodness [0,1] 0.902694987826379 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.09, Z:-0.58 [[ 0.99826216 0.05872854 -0.00485972 1.78723923] [-0.05856562 0.99787009 0.02872905 -0.0933076 ] [ 0.00653658 -0.02839451 0.99957542 -0.58073882] [ 0. 0. 0. 1. ]] SLAMing on 43.237193469999994 meters Centerline goodness [0,1] 0.9034012467054344 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.09, Z:-0.58 [[ 0.99823303 0.05921269 -0.00496835 1.78749675] [-0.05904408 0.99783143 0.02909011 -0.09408758] [ 0.00668008 -0.02874536 0.99956445 -0.58063411] [ 0. 0. 0. 1. ]] SLAMing on 43.267193469999995 meters Centerline goodness [0,1] 0.9040672802020076 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:-0.58 [[ 0.99808025 0.06185797 -0.00306767 1.7927676 ] [-0.06177968 0.9978658 0.02114522 -0.09623095] [ 0.00436912 -0.02091511 0.99977171 -0.57706833] [ 0. 0. 0. 1. ]] SLAMing on 43.297193469999996 meters Centerline goodness [0,1] 0.902547065337763 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:-0.58 [[ 0.99802577 0.06272585 -0.00316742 1.79304708] [-0.06264095 0.99779128 0.02210616 -0.09828933] [ 0.00454705 -0.02186411 0.99975061 -0.57701976] [ 0. 0. 0. 1. ]] SLAMing on 43.32719347 meters Centerline goodness [0,1] 0.8939071872040408 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:-0.58 [[ 0.99789885 0.0647137 -0.00316713 1.79390057] [-0.06461673 0.99760711 0.02459135 -0.1035012 ] [ 0.00475095 -0.02433503 0.99969257 -0.57787581] [ 0. 0. 0. 1. ]] SLAMing on 43.35719347 meters Centerline goodness [0,1] 0.8853009935710111 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.11, Z:-0.58 [[ 0.9979568 0.06377424 -0.00388108 1.79659935] [-0.06366458 0.99768798 0.0237805 -0.1070628 ] [ 0.00538869 -0.02348482 0.99970967 -0.57962917] [ 0. 0. 0. 1. ]] SLAMing on 43.38719346999999 meters Centerline goodness [0,1] 0.8870799415570862 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.11, Z:-0.58 [[ 0.99813499 0.06090547 -0.00413214 1.79688307] [-0.0608056 0.99792738 0.02106225 -0.11005992] [ 0.00540638 -0.02077171 0.99976963 -0.57976444] [ 0. 0. 0. 1. ]] SLAMing on 43.417193469999994 meters Centerline goodness [0,1] 0.8817278672032193 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.12, Z:-0.58 [[ 0.99838855 0.05658452 -0.00429977 1.79650422] [-0.05650086 0.99824787 0.017574 -0.12005472] [ 0.00528665 -0.01730273 0.99983632 -0.5794907 ] [ 0. 0. 0. 1. ]] SLAMing on 43.447193469999995 meters Centerline goodness [0,1] 0.8780610008141793 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.13, Z:-0.58 [[ 0.99854907 0.05365251 -0.0046005 1.79664074] [-0.05357573 0.99844436 0.01544347 -0.12567321] [ 0.00542193 -0.01517458 0.99987016 -0.57931209] [ 0. 0. 0. 1. ]] SLAMing on 43.477193469999996 meters Centerline goodness [0,1] 0.8854373394054608 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.13, Z:-0.58 [[ 0.99870049 0.05074034 -0.00477038 1.79635181] [-0.05067248 0.99862535 0.01340594 -0.13143829] [ 0.00544405 -0.01314679 0.99989876 -0.57889254] [ 0. 0. 0. 1. ]] SLAMing on 43.50719347 meters Centerline goodness [0,1] 0.8923702564318675 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.14, Z:-0.58 [[ 0.99893816 0.04580267 -0.0049674 1.79569059] [-0.0457498 0.99890003 0.01028075 -0.14350055] [ 0.00543282 -0.01004258 0.99993481 -0.5783231 ] [ 0. 0. 0. 1. ]] SLAMing on 43.53719347 meters Centerline goodness [0,1] 0.8883457625702409 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.15, Z:-0.58 [[ 0.99902883 0.04369927 -0.00563586 1.79780952] [-0.04364696 0.99900563 0.00909414 -0.14939259] [ 0.00602766 -0.00883932 0.99994277 -0.5796847 ] [ 0. 0. 0. 1. ]] SLAMing on 43.56719346999999 meters Centerline goodness [0,1] 0.8801466147406127 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.15, Z:-0.58 [[ 0.99911194 0.04168753 -0.0061224 1.79940324] [-0.04164083 0.99910399 0.00756649 -0.15447376] [ 0.00643234 -0.00730482 0.99995263 -0.58077793] [ 0. 0. 0. 1. ]] SLAMing on 43.59719346999999 meters Centerline goodness [0,1] 0.8783569310445641 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.16, Z:-0.58 [[ 0.99916613 0.04028947 -0.00661838 1.80143682] [-0.04024714 0.9991692 0.00640951 -0.15941806] [ 0.00687112 -0.0061378 0.99995756 -0.58235948] [ 0. 0. 0. 1. ]] SLAMing on 43.627193469999995 meters Centerline goodness [0,1] 0.8492492870323771 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.59 [[ 0.99913797 0.0408021 -0.00764943 1.80586065] [-0.04075323 0.99914849 0.00643938 -0.17422422] [ 0.00790565 -0.00612209 0.99995001 -0.58511976] [ 0. 0. 0. 1. ]] SLAMing on 43.657193469999996 meters Centerline goodness [0,1] 0.8214972412640027 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.18, Z:-0.59 [[ 0.99921539 0.03877654 -0.0080616 1.80780391] [-0.03873492 0.99923569 0.00525688 -0.18183746] [ 0.00825928 -0.00494049 0.99995369 -0.58687464] [ 0. 0. 0. 1. ]] SLAMing on 43.68719347 meters Centerline goodness [0,1] 0.8410596026490066 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.19, Z:-0.59 [[ 0.99930373 0.03638648 -0.00825099 1.80865681] [-0.03635524 0.9993313 0.00390581 -0.18902408] [ 0.00838759 -0.00360312 0.99995833 -0.58785936] [ 0. 0. 0. 1. ]] SLAMing on 43.71719347 meters Centerline goodness [0,1] 0.8696340048518089 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.20, Z:-0.59 [[ 9.99445647e-01 3.20343024e-02 -9.06649382e-03 1.81048040e+00] [-3.20168846e-02 9.99485206e-01 2.05982005e-03 -2.01688003e-01] [ 9.12781134e-03 -1.76839730e-03 9.99956777e-01 -5.88868884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74719346999999 meters Centerline goodness [0,1] 0.860133704968879 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.21, Z:-0.59 [[ 9.99507814e-01 2.98458307e-02 -9.66204938e-03 1.81206464e+00] [-2.98369057e-02 9.99554211e-01 1.06657513e-03 -2.08088431e-01] [ 9.68957497e-03 -7.77764524e-04 9.99952752e-01 -5.89526424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77719346999999 meters Centerline goodness [0,1] 0.861852499420699 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.22, Z:-0.59 [[ 9.99582239e-01 2.71388507e-02 -9.94130614e-03 1.81219235e+00] [-2.71426556e-02 9.99631539e-01 -2.47993143e-04 -2.15679004e-01] [ 9.93091292e-03 5.17722990e-04 9.99950553e-01 -5.89257661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.807193469999994 meters Centerline goodness [0,1] 0.8884205201702988 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.22, Z:-0.59 [[ 0.99965397 0.02420336 -0.01030183 1.81287676] [-0.02422481 0.99970461 -0.00196297 -0.22449079] [ 0.01025127 0.00221185 0.99994501 -0.58953091] [ 0. 0. 0. 1. ]] SLAMing on 43.837193469999995 meters Centerline goodness [0,1] 0.8675003690503806 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:-0.59 [[ 0.99972835 0.0207703 -0.01057491 1.81300615] [-0.02081547 0.9997746 -0.00417949 -0.24452336] [ 0.01048572 0.00439847 0.99993535 -0.58954637] [ 0. 0. 0. 1. ]] SLAMing on 43.86719347 meters Centerline goodness [0,1] 0.9029679161305293 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.25, Z:-0.59 [[ 0.99977127 0.01829733 -0.01107327 1.81420882] [-0.01835546 0.99981815 -0.00517052 -0.25188446] [ 0.01097665 0.00537259 0.99992532 -0.59002419] [ 0. 0. 0. 1. ]] SLAMing on 43.89719347 meters Centerline goodness [0,1] 0.9041801589637916 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.26, Z:-0.59 [[ 0.99980637 0.0159083 -0.01158237 1.81583041] [-0.01598164 0.99985264 -0.00626709 -0.25813618] [ 0.01148097 0.00645098 0.99991328 -0.59090988] [ 0. 0. 0. 1. ]] SLAMing on 43.92719347 meters Centerline goodness [0,1] 0.9106339339904983 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.27, Z:-0.59 [[ 0.99982312 0.01107467 -0.01520106 1.82185485] [-0.01110708 0.99993621 -0.00204914 -0.27343264] [ 0.01517739 0.00221762 0.99988236 -0.58924583] [ 0. 0. 0. 1. ]] SLAMing on 43.95719346999999 meters Centerline goodness [0,1] 0.9115964638585543 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.28, Z:-0.59 [[ 0.99993356 0.00515437 -0.01031041 1.8316983 ] [-0.00513294 0.99998461 0.00210368 -0.28052139] [ 0.0103211 -0.00205062 0.99994463 -0.59158389] [ 0. 0. 0. 1. ]] SLAMing on 43.987193469999994 meters Centerline goodness [0,1] 0.9214576256971527 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.59 [[ 9.99942666e-01 2.14204138e-03 -1.04917321e-02 1.83163659e+00] [-2.13787392e-03 9.99997631e-01 4.08412298e-04 -2.87517500e-01] [ 1.04925821e-02 -3.85958882e-04 9.99944877e-01 -5.91029324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017193469999995 meters Centerline goodness [0,1] 0.9224228870416473 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.29, Z:-0.59 [[ 9.99943872e-01 -5.09552170e-04 -1.05827174e-02 1.83139201e+00] [ 4.97200692e-04 9.99999192e-01 -1.16973483e-03 -2.93716168e-01] [ 1.05833049e-02 1.16440744e-03 9.99943317e-01 -5.90433797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047193469999996 meters Centerline goodness [0,1] 0.9254540867810293 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.30, Z:-0.59 [[ 0.99998839 -0.0029458 -0.00381299 1.84019125] [ 0.00296524 0.99998258 0.0051046 -0.30451286] [ 0.00379789 -0.00511584 0.9999797 -0.59274794] [ 0. 0. 0. 1. ]] SLAMing on 44.07719347 meters Centerline goodness [0,1] 0.9267059637935013 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.31, Z:-0.59 [[ 0.99998434 -0.00355421 -0.00432258 1.8421869 ] [ 0.00357617 0.99998069 0.00508214 -0.30709234] [ 0.00430443 -0.00509752 0.99997774 -0.59388161] [ 0. 0. 0. 1. ]] SLAMing on 44.10719347 meters Centerline goodness [0,1] 0.925872031717913 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.31, Z:-0.60 [[ 0.99998412 -0.0031701 -0.00466018 1.84383719] [ 0.00319925 0.99997529 0.00625999 -0.31009351] [ 0.00464022 -0.0062748 0.99996955 -0.59526656] [ 0. 0. 0. 1. ]] SLAMing on 44.13719346999999 meters Centerline goodness [0,1] 0.9266480575901945 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.31, Z:-0.60 [[ 0.99998122 -0.00312945 -0.00526957 1.84565105] [ 0.00316475 0.99997252 0.00670443 -0.31173402] [ 0.00524844 -0.00672098 0.99996364 -0.59602486] [ 0. 0. 0. 1. ]] SLAMing on 44.167193469999994 meters Centerline goodness [0,1] 0.9262322754895341 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.31, Z:-0.59 [[ 0.99997393 -0.0050441 -0.00516778 1.84426574] [ 0.00506882 0.99997572 0.00478184 -0.31360226] [ 0.00514353 -0.00480791 0.99997521 -0.59445813] [ 0. 0. 0. 1. ]] SLAMing on 44.197193469999995 meters Centerline goodness [0,1] 0.9252405313796079 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.32, Z:-0.59 [[ 0.99996322 -0.00691553 -0.00507204 1.84258411] [ 0.00693436 0.9999691 0.00370371 -0.32079312] [ 0.00504627 -0.00373874 0.99998028 -0.59215138] [ 0. 0. 0. 1. ]] SLAMing on 44.227193469999996 meters Centerline goodness [0,1] 0.928358459664889 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.32, Z:-0.59 [[ 0.99996223 -0.00683287 -0.00537096 1.84289543] [ 0.00685635 0.99996696 0.0043664 -0.32356681] [ 0.00534095 -0.00440306 0.99997604 -0.59157987] [ 0. 0. 0. 1. ]] SLAMing on 44.25719347 meters Centerline goodness [0,1] 0.9303742751713231 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.33, Z:-0.59 [[ 0.99996493 -0.00635508 -0.00545412 1.84282548] [ 0.00638374 0.99996582 0.00525357 -0.32539177] [ 0.00542055 -0.0052882 0.99997133 -0.59116813] [ 0. 0. 0. 1. ]] SLAMing on 44.28719347 meters Centerline goodness [0,1] 0.9276043508100577 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.60 [[ 9.99997789e-01 -1.96068057e-03 -7.60602125e-04 1.85646261e+00] [ 1.96155781e-03 9.99997410e-01 1.15431461e-03 -3.25998842e-01] [ 7.58336913e-04 -1.15580402e-03 9.99999045e-01 -5.95938044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31719346999999 meters Centerline goodness [0,1] 0.9264140235828237 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.60 [[ 9.99998741e-01 -1.32591571e-03 -8.71392689e-04 1.85655250e+00] [ 1.32769695e-03 9.99997024e-01 2.04674071e-03 -3.27513975e-01] [ 8.68676290e-04 -2.04789508e-03 9.99997526e-01 -5.95737701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34719346999999 meters Centerline goodness [0,1] 0.9258582677165355 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.60 [[ 9.99999000e-01 -1.00960291e-03 -9.90226404e-04 1.85698702e+00] [ 1.01211410e-03 9.99996265e-01 2.53875799e-03 -3.29281460e-01] [ 9.87659568e-04 -2.53975767e-03 9.99996287e-01 -5.95916553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377193469999995 meters Centerline goodness [0,1] 0.9232550307316663 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.33, Z:-0.60 [[ 9.99999350e-01 2.84808958e-04 -1.10372855e-03 1.85692029e+00] [-2.79984966e-04 9.99990420e-01 4.36832545e-03 -3.34896370e-01] [ 1.10496211e-03 -4.36801359e-03 9.99989850e-01 -5.95404363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407193469999996 meters Centerline goodness [0,1] 0.9149723895582329 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.34, Z:-0.60 [[ 9.99998448e-01 -3.56531000e-04 -1.72553873e-03 1.85943080e+00] [ 3.63553414e-04 9.99991647e-01 4.07109260e-03 -3.37070968e-01] [ 1.72407284e-03 -4.07171360e-03 9.99990224e-01 -5.96965101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43719347 meters Centerline goodness [0,1] 0.9198211248976507 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.34, Z:-0.60 [[ 9.99998021e-01 -2.05814163e-04 -1.97876883e-03 1.86063479e+00] [ 2.15103085e-04 9.99988954e-01 4.69522745e-03 -3.39436337e-01] [ 1.97778063e-03 -4.69564380e-03 9.99987020e-01 -5.97852666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46719347 meters Centerline goodness [0,1] 0.9182761874803398 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.34, Z:-0.60 [[ 9.99996445e-01 -8.16279133e-04 -2.53826779e-03 1.86320904e+00] [ 8.27198742e-04 9.99990396e-01 4.30392246e-03 -3.40097200e-01] [ 2.53473021e-03 -4.30600681e-03 9.99987517e-01 -5.99797190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49719346999999 meters Centerline goodness [0,1] 0.9194691003042047 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.34, Z:-0.60 [[ 0.99999235 -0.00220332 -0.0032314 1.86615775] [ 0.00221562 0.9999903 0.00380662 -0.34261857] [ 0.00322298 -0.00381375 0.99998753 -0.60163073] [ 0. 0. 0. 1. ]] SLAMing on 44.52719346999999 meters Centerline goodness [0,1] 0.9205961040046818 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.34, Z:-0.60 [[ 9.99979194e-01 -5.52822162e-03 -3.32413755e-03 1.86597079e+00] [ 5.53049857e-03 9.99984478e-01 6.76172364e-04 -3.44186498e-01] [ 3.32034792e-03 -6.94542433e-04 9.99994246e-01 -6.01069045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557193469999994 meters Centerline goodness [0,1] 0.9199481377695058 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.60 [[ 9.99976065e-01 -5.88340397e-03 -3.64064696e-03 1.86688313e+00] [ 5.88870129e-03 9.99981616e-01 1.44604382e-03 -3.48492101e-01] [ 3.63207237e-03 -1.46744789e-03 9.99992327e-01 -6.01125001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587193469999995 meters Centerline goodness [0,1] 0.9191476879884347 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.60 [[ 9.99950360e-01 -9.03963756e-03 -4.19079781e-03 1.86933524e+00] [ 9.03453352e-03 9.99958425e-01 -1.23525077e-03 -3.51492358e-01] [ 4.20178979e-03 1.19732755e-03 9.99990456e-01 -6.02722388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61719347 meters Centerline goodness [0,1] 0.9183429970904067 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.35, Z:-0.61 [[ 0.99985453 -0.01635174 -0.00485079 1.87312257] [ 0.01631513 0.99983881 -0.00749426 -0.354767 ] [ 0.00497255 0.00741402 0.99996015 -0.6056038 ] [ 0. 0. 0. 1. ]] SLAMing on 44.64719347 meters Centerline goodness [0,1] 0.9102732994584196 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.36, Z:-0.61 [[ 0.99983817 -0.01719401 -0.00529156 1.87453839] [ 0.01715591 0.99982717 -0.00716286 -0.35714047] [ 0.00541381 0.00707092 0.99996035 -0.60596522] [ 0. 0. 0. 1. ]] SLAMing on 44.67719347 meters Centerline goodness [0,1] 0.9119381608323855 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.36, Z:-0.61 [[ 0.9998265 -0.01782169 -0.00541745 1.87471688] [ 0.01778523 0.99981934 -0.00670596 -0.35963496] [ 0.00553598 0.00660845 0.99996284 -0.60543796] [ 0. 0. 0. 1. ]] SLAMing on 44.70719346999999 meters Centerline goodness [0,1] 0.9066036354508754 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:-0.61 [[ 9.99739257e-01 -2.28318225e-02 -3.53964158e-04 1.88308182e+00] [ 2.28312805e-02 9.99738257e-01 -1.46653368e-03 -3.62474987e-01] [ 3.87355147e-04 1.45806984e-03 9.99998862e-01 -6.05793128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737193469999994 meters Centerline goodness [0,1] 0.9066036354508754 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:-0.61 [[ 9.99739257e-01 -2.28318225e-02 -3.53964158e-04 1.88308182e+00] [ 2.28312805e-02 9.99738257e-01 -1.46653368e-03 -3.62474987e-01] [ 3.87355147e-04 1.45806984e-03 9.99998862e-01 -6.05793128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767193469999995 meters Centerline goodness [0,1] 0.9055720436400116 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:-0.61 [[ 9.99735004e-01 -2.30062266e-02 -7.96557512e-04 1.88392215e+00] [ 2.30053698e-02 9.99734770e-01 -1.06858166e-03 -3.64221310e-01] [ 8.20930273e-04 1.04997339e-03 9.99999112e-01 -6.05571991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797193469999996 meters Centerline goodness [0,1] 0.9047729038489806 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:-0.61 [[ 9.99731092e-01 -2.31651171e-02 -1.05898797e-03 1.88428782e+00] [ 2.31641162e-02 9.99731227e-01 -9.47855719e-04 -3.64991169e-01] [ 1.08066053e-03 9.23070313e-04 9.99998990e-01 -6.05238217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82719347 meters Centerline goodness [0,1] 0.903112155020552 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:-0.61 [[ 9.99729438e-01 -2.32277752e-02 -1.23341086e-03 1.88457900e+00] [ 2.32266449e-02 9.99729799e-01 -9.22910637e-04 -3.64714997e-01] [ 1.25451475e-03 8.94012936e-04 9.99998813e-01 -6.05049788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85719347 meters Centerline goodness [0,1] 0.9089808358732412 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:-0.60 [[ 9.99789708e-01 -2.04426279e-02 -1.62472386e-03 1.88497211e+00] [ 2.04457530e-02 9.99789100e-01 1.93067557e-03 -3.62121845e-01] [ 1.58491312e-03 -1.96348827e-03 9.99996816e-01 -6.04426991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88719346999999 meters Centerline goodness [0,1] 0.9051419736319759 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.36, Z:-0.60 [[ 0.9998472 -0.01734385 -0.00218227 1.88604541] [ 0.01735548 0.99983466 0.00542547 -0.36167776] [ 0.00208781 -0.00546252 0.9999829 -0.60435171] [ 0. 0. 0. 1. ]] SLAMing on 44.917193469999994 meters Centerline goodness [0,1] 0.9063451670768846 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.36, Z:-0.60 [[ 0.99984172 -0.01760404 -0.00257547 1.88697365] [ 0.01761641 0.999833 0.00486099 -0.35990346] [ 0.00248947 -0.00490559 0.99998487 -0.60452701] [ 0. 0. 0. 1. ]] SLAMing on 44.947193469999995 meters Centerline goodness [0,1] 0.9059888141770879 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.36, Z:-0.60 [[ 0.99984015 -0.01766123 -0.00278526 1.88698446] [ 0.01767398 0.99983312 0.00462261 -0.35887373] [ 0.00270316 -0.00467109 0.99998544 -0.60397308] [ 0. 0. 0. 1. ]] SLAMing on 44.977193469999996 meters Centerline goodness [0,1] 0.907683269690739 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.36, Z:-0.60 [[ 0.99983136 -0.01813089 -0.00292043 1.88584342] [ 0.01814252 0.99982737 0.00400887 -0.35769741] [ 0.00284724 -0.00406118 0.9999877 -0.601901 ] [ 0. 0. 0. 1. ]] SLAMing on 45.00719347 meters Centerline goodness [0,1] 0.9092143468906018 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.36, Z:-0.60 [[ 0.99982551 -0.01835635 -0.00346359 1.88696141] [ 0.01836862 0.99982499 0.00354654 -0.35648152] [ 0.00339788 -0.00360954 0.99998771 -0.60195936] [ 0. 0. 0. 1. ]] SLAMing on 45.03719347 meters Centerline goodness [0,1] 0.9088296377100422 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.35, Z:-0.60 [[ 0.99982763 -0.01820301 -0.00365662 1.88758431] [ 0.01821454 0.99982915 0.00314635 -0.35383126] [ 0.00359872 -0.00321241 0.99998836 -0.6023575 ] [ 0. 0. 0. 1. ]] SLAMing on 45.06719346999999 meters Centerline goodness [0,1] 0.9069928456035079 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.35, Z:-0.60 [[ 0.99992421 -0.01149378 -0.00441284 1.89014161] [ 0.01153227 0.99989481 0.00879613 -0.34759348] [ 0.00431128 -0.00884635 0.99995158 -0.60419387] [ 0. 0. 0. 1. ]] SLAMing on 45.09719346999999 meters Centerline goodness [0,1] 0.9092533047516971 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.35, Z:-0.60 [[ 0.99995802 -0.00780951 -0.00479299 1.89119793] [ 0.00786627 0.99989779 0.01193898 -0.34508583] [ 0.00469926 -0.01197618 0.99991724 -0.60469279] [ 0. 0. 0. 1. ]] SLAMing on 45.127193469999995 meters Centerline goodness [0,1] 0.9088234057757787 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.34, Z:-0.60 [[ 0.99998389 -0.00199598 -0.00531445 1.89974939] [ 0.00202383 0.99998422 0.00524037 -0.34162523] [ 0.00530391 -0.00525104 0.99997215 -0.60290527] [ 0. 0. 0. 1. ]] SLAMing on 45.157193469999996 meters Centerline goodness [0,1] 0.9069369707587702 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.34, Z:-0.61 [[ 9.99948933e-01 9.55947986e-03 -3.27845694e-03 1.90814529e+00] [-9.56355847e-03 9.99953511e-01 -1.23065124e-03 -3.35975507e-01] [ 3.26654014e-03 1.26194211e-03 9.99993869e-01 -6.07270203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18719347 meters Centerline goodness [0,1] 0.895280360072351 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.34, Z:-0.61 [[ 0.99989571 0.01399084 -0.003581 1.90906222] [-0.01398158 0.99989888 0.00259797 -0.33504199] [ 0.00361699 -0.00254763 0.99999021 -0.60765597] [ 0. 0. 0. 1. ]] SLAMing on 45.21719347 meters Centerline goodness [0,1] 0.8836306887679783 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.33, Z:-0.61 [[ 0.99982474 0.01828827 -0.00400356 1.91059253] [-0.01826209 0.99981224 0.00647921 -0.33430215] [ 0.0041213 -0.00640496 0.999971 -0.6084486 ] [ 0. 0. 0. 1. ]] SLAMing on 45.24719346999999 meters Centerline goodness [0,1] 0.8540353089533417 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.33, Z:-0.61 [[ 0.99973434 0.02263365 -0.0043544 1.9119591 ] [-0.02258604 0.99968775 0.0106896 -0.33461854] [ 0.00459499 -0.01058841 0.99993338 -0.60913635] [ 0. 0. 0. 1. ]] SLAMing on 45.27719346999999 meters Centerline goodness [0,1] 0.8288646352490905 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.34, Z:-0.61 [[ 0.99960674 0.02769621 -0.00439177 1.91206254] [-0.02762228 0.99948902 0.01608426 -0.33736756] [ 0.004835 -0.01595662 0.99986099 -0.60879083] [ 0. 0. 0. 1. ]] SLAMing on 45.307193469999994 meters Centerline goodness [0,1] 0.8317836010143702 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.34, Z:-0.61 [[ 0.99968107 0.02483255 -0.004594 1.91178647] [-0.02477049 0.99960726 0.01310548 -0.33848108] [ 0.00491764 -0.0129875 0.99990357 -0.60816018] [ 0. 0. 0. 1. ]] SLAMing on 45.337193469999995 meters Centerline goodness [0,1] 0.8211230002732872 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.34, Z:-0.61 [[ 0.99975313 0.0216977 -0.00478457 1.91210035] [-0.02164832 0.99971421 0.01014141 -0.34107535] [ 0.00500325 -0.01003532 0.99993713 -0.60825464] [ 0. 0. 0. 1. ]] SLAMing on 45.36719347 meters Centerline goodness [0,1] 0.8166869160836231 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.35, Z:-0.61 [[ 0.99984673 0.01667338 -0.00534036 1.91347484] [-0.01664215 0.99984445 0.00584037 -0.34996463] [ 0.00543691 -0.0057506 0.99996868 -0.60885479] [ 0. 0. 0. 1. ]] SLAMing on 45.39719347 meters Centerline goodness [0,1] 0.8208958350791922 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.35, Z:-0.61 [[ 0.99989735 0.01319643 -0.00558001 1.91417768] [-0.01318061 0.99990903 0.00286255 -0.35333987] [ 0.00561728 -0.00278871 0.99998033 -0.60919859] [ 0. 0. 0. 1. ]] SLAMing on 45.42719347 meters Centerline goodness [0,1] 0.8339767525262114 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:-0.61 [[ 9.99933636e-01 1.01218335e-02 -5.50205965e-03 1.91363916e+00] [-1.01131386e-02 9.99947571e-01 1.60583441e-03 -3.62269122e-01] [ 5.51802518e-03 -1.55008475e-03 9.99983574e-01 -6.08341378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45719346999999 meters Centerline goodness [0,1] 0.8403798566020177 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:-0.61 [[ 9.99960423e-01 7.13232358e-03 -5.31816764e-03 1.91269479e+00] [-7.13583474e-03 9.99974334e-01 -6.41537078e-04 -3.66134221e-01] [ 5.31345549e-03 6.79461254e-04 9.99985653e-01 -6.07407175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487193469999994 meters Centerline goodness [0,1] 0.8532655504905153 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:-0.61 [[ 0.99997687 0.00420776 -0.00534328 1.91222116] [-0.00422115 0.99998797 -0.0024972 -0.37119339] [ 0.00533271 0.00251969 0.99998261 -0.60644249] [ 0. 0. 0. 1. ]] SLAMing on 45.517193469999995 meters Centerline goodness [0,1] 0.8557823414654612 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.38, Z:-0.61 [[ 9.99985002e-01 1.19432540e-03 -5.34494425e-03 1.91158856e+00] [-1.21704897e-03 9.99990227e-01 -4.25018151e-03 -3.76634620e-01] [ 5.33981591e-03 4.25662282e-03 9.99976683e-01 -6.05232764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547193469999996 meters Centerline goodness [0,1] 0.8966894619068532 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.39, Z:-0.60 [[ 9.99986783e-01 -2.87505119e-03 -4.26243018e-03 1.91005230e+00] [ 2.87428151e-03 9.99995852e-01 -1.86689314e-04 -3.91544699e-01] [ 4.26294924e-03 1.74435422e-04 9.99990898e-01 -5.98366115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57719347 meters Centerline goodness [0,1] 0.9039852026231714 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.40, Z:-0.60 [[ 9.99975118e-01 -5.71588749e-03 -4.13415445e-03 1.90887498e+00] [ 5.70844841e-03 9.99982070e-01 -1.80898656e-03 -3.97400565e-01] [ 4.14442029e-03 1.78534194e-03 9.99989818e-01 -5.96751959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60719347 meters Centerline goodness [0,1] 0.9083843124109612 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.41, Z:-0.59 [[ 9.99959186e-01 -8.15189434e-03 -3.89520623e-03 1.90784822e+00] [ 8.15054840e-03 9.99966718e-01 -3.61285154e-04 -4.10261880e-01] [ 3.89802175e-03 3.29522341e-04 9.99992348e-01 -5.93390108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63719346999999 meters Centerline goodness [0,1] 0.9084669149960239 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.42, Z:-0.59 [[ 9.99962311e-01 -7.66297065e-03 -4.08115429e-03 1.90805480e+00] [ 7.66917827e-03 9.99969455e-01 1.50757513e-03 -4.16744270e-01] [ 4.06947713e-03 -1.53881741e-03 9.99990536e-01 -5.92688764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667193469999994 meters Centerline goodness [0,1] 0.9083496618418557 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.42, Z:-0.59 [[ 0.99996504 -0.00722398 -0.00421101 1.9084293 ] [ 0.00723699 0.99996906 0.00308218 -0.42265157] [ 0.00418862 -0.00311255 0.99998638 -0.59255426] [ 0. 0. 0. 1. ]] SLAMing on 45.697193469999995 meters Centerline goodness [0,1] 0.9087780780273602 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.43, Z:-0.59 [[ 0.99996882 -0.00665709 -0.00424712 1.9088866 ] [ 0.00667762 0.99996601 0.00483673 -0.42839447] [ 0.00421478 -0.00486494 0.99997928 -0.59272247] [ 0. 0. 0. 1. ]] SLAMing on 45.727193469999996 meters Centerline goodness [0,1] 0.9079149079149079 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.43, Z:-0.59 [[ 0.99996006 -0.00744841 -0.00493866 1.9118749 ] [ 0.0074727 0.99995999 0.00491738 -0.43266528] [ 0.00490184 -0.00495409 0.99997571 -0.59467188] [ 0. 0. 0. 1. ]] SLAMing on 45.75719347 meters Centerline goodness [0,1] 0.9049175488170048 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.44, Z:-0.60 [[ 0.99994444 -0.00900615 -0.00547714 1.91497628] [ 0.0090322 0.99994792 0.00475152 -0.43925016] [ 0.00543406 -0.00480072 0.99997371 -0.59707763] [ 0. 0. 0. 1. ]] SLAMing on 45.78719347 meters Centerline goodness [0,1] 0.9032802446999262 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.44, Z:-0.60 [[ 0.99994243 -0.00904981 -0.00576493 1.91618704] [ 0.00908225 0.99994293 0.00562634 -0.442565 ] [ 0.00571368 -0.00567838 0.99996755 -0.59766681] [ 0. 0. 0. 1. ]] SLAMing on 45.81719346999999 meters Centerline goodness [0,1] 0.9018320227538899 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.44, Z:-0.60 [[ 0.99996696 -0.00773714 -0.00249236 1.92901029] [ 0.00773126 0.99996732 -0.00236269 -0.44492145] [ 0.00251055 0.00234335 0.9999941 -0.60114285] [ 0. 0. 0. 1. ]] SLAMing on 45.84719346999999 meters Centerline goodness [0,1] 0.8953931708550124 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.45, Z:-0.60 [[ 0.99993574 -0.0110731 -0.00242899 1.92756024] [ 0.01106297 0.99993022 -0.00414337 -0.45280289] [ 0.0024747 0.00411623 0.99998847 -0.59850313] [ 0. 0. 0. 1. ]] SLAMing on 45.877193469999995 meters Centerline goodness [0,1] 0.8977795601333952 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.60 [[ 0.99993399 -0.01119893 -0.002568 1.92774367] [ 0.01119027 0.99993174 -0.0033599 -0.45681201] [ 0.00260545 0.00333094 0.99999106 -0.59790829] [ 0. 0. 0. 1. ]] SLAMing on 45.907193469999996 meters Centerline goodness [0,1] 0.8956211919971329 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.60 [[ 0.9999363 -0.01095767 -0.00270755 1.92778569] [ 0.01095102 0.99993701 -0.00246104 -0.45968683] [ 0.00273434 0.00243124 0.99999331 -0.59728528] [ 0. 0. 0. 1. ]] SLAMing on 45.93719347 meters Centerline goodness [0,1] 0.8984607641655832 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.60 [[ 9.99963623e-01 -7.93212483e-03 -3.13600424e-03 1.92986617e+00] [ 7.93536712e-03 9.99967991e-01 1.02280422e-03 -4.60143805e-01] [ 3.12779085e-03 -1.04765236e-03 9.99994560e-01 -5.98610576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96719347 meters Centerline goodness [0,1] 0.8981825082229906 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.60 [[ 9.99966997e-01 -7.46461734e-03 -3.20686199e-03 1.93040545e+00] [ 7.46866724e-03 9.99971324e-01 1.25276984e-03 -4.59039872e-01] [ 3.19741859e-03 -1.27667948e-03 9.99994073e-01 -5.99236551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99719346999999 meters Centerline goodness [0,1] 0.8997830528466415 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.60 [[ 0.99998115 -0.00485494 -0.00375924 1.93324843] [ 0.00487037 0.99997971 0.00410657 -0.45994019] [ 0.00373923 -0.0041248 0.9999845 -0.60143441] [ 0. 0. 0. 1. ]] SLAMing on 46.02719346999999 meters Centerline goodness [0,1] 0.8977046012978558 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.46, Z:-0.60 [[ 0.99997949 -0.00449642 -0.00456008 1.93676671] [ 0.00451745 0.99997916 0.00461157 -0.46259951] [ 0.00453925 -0.00463207 0.99997897 -0.60402427] [ 0. 0. 0. 1. ]] SLAMing on 46.057193469999994 meters Centerline goodness [0,1] 0.8958890832086643 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.60 [[ 0.99997711 -0.00464547 -0.00491841 1.93809686] [ 0.00466993 0.99997674 0.00497192 -0.46506532] [ 0.0048952 -0.00499478 0.99997554 -0.60475008] [ 0. 0. 0. 1. ]] SLAMing on 46.087193469999995 meters Centerline goodness [0,1] 0.8892270237370663 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.61 [[ 0.9999664 -0.00588786 -0.00570405 1.94138593] [ 0.00591146 0.999974 0.00412911 -0.46676182] [ 0.00567959 -0.00416269 0.99997521 -0.60690776] [ 0. 0. 0. 1. ]] SLAMing on 46.11719347 meters Centerline goodness [0,1] 0.8892720467639514 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.61 [[ 0.99996408 -0.0061277 -0.00585545 1.94202203] [ 0.00615454 0.99997058 0.0045773 -0.4688388 ] [ 0.00582723 -0.00461317 0.99997238 -0.60706868] [ 0. 0. 0. 1. ]] SLAMing on 46.14719347 meters Centerline goodness [0,1] 0.890636846095527 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.61 [[ 0.99996316 -0.00661372 -0.00547224 1.94129403] [ 0.00664229 0.99996432 0.00521867 -0.47151404] [ 0.00543753 -0.00525482 0.99997141 -0.60613266] [ 0. 0. 0. 1. ]] SLAMing on 46.17719347 meters Centerline goodness [0,1] 0.8903882127918953 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.61 [[ 0.99996412 -0.00652675 -0.00540038 1.94072474] [ 0.00655717 0.99996263 0.0056337 -0.47277746] [ 0.00536341 -0.00566891 0.99996955 -0.60514365] [ 0. 0. 0. 1. ]] SLAMing on 46.20719346999999 meters Centerline goodness [0,1] 0.8921428270664028 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.60 [[ 0.99996815 -0.0059449 -0.00532599 1.939513 ] [ 0.00597911 0.99996145 0.0064304 -0.47392881] [ 0.00528755 -0.00646204 0.99996514 -0.6034537 ] [ 0. 0. 0. 1. ]] SLAMing on 46.237193469999994 meters Centerline goodness [0,1] 0.8914033829670561 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.60 [[ 0.99997213 -0.00539828 -0.00515819 1.93869695] [ 0.00543363 0.99996168 0.00686364 -0.47399694] [ 0.00512094 -0.00689148 0.99996314 -0.60258906] [ 0. 0. 0. 1. ]] SLAMing on 46.267193469999995 meters Centerline goodness [0,1] 0.891741684628714 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.60 [[ 0.99997225 -0.0051769 -0.00535685 1.93917766] [ 0.00521415 0.99996215 0.00696467 -0.47402963] [ 0.00532059 -0.0069924 0.9999614 -0.6027343 ] [ 0. 0. 0. 1. ]] SLAMing on 46.297193469999996 meters Centerline goodness [0,1] 0.8899489356336815 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.60 [[ 0.99997127 -0.00501331 -0.00568573 1.93994831] [ 0.00505299 0.99996284 0.00698482 -0.47409435] [ 0.0056505 -0.00701335 0.99995944 -0.60291082] [ 0. 0. 0. 1. ]] SLAMing on 46.32719347 meters Centerline goodness [0,1] 0.8881436014258896 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.60 [[ 0.99997746 -0.0039915 -0.00539879 1.93857824] [ 0.00403366 0.99996128 0.00782137 -0.47456051] [ 0.00536737 -0.00784297 0.99995484 -0.60174892] [ 0. 0. 0. 1. ]] SLAMing on 46.35719347 meters Centerline goodness [0,1] 0.8896362677912494 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.60 [[ 0.99997537 -0.00429433 -0.00555144 1.9393653 ] [ 0.00433613 0.99996217 0.00754081 -0.47444762] [ 0.00551885 -0.0075647 0.99995616 -0.60231235] [ 0. 0. 0. 1. ]] SLAMing on 46.38719346999999 meters Centerline goodness [0,1] 0.8879208255794282 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.48, Z:-0.60 [[ 0.99997258 -0.00467358 -0.00574478 1.94000624] [ 0.00471677 0.99996054 0.00752763 -0.4751832 ] [ 0.00570938 -0.00755452 0.99995517 -0.60250468] [ 0. 0. 0. 1. ]] SLAMing on 46.417193469999994 meters Centerline goodness [0,1] 0.8883782146363883 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.61 [[ 9.99951566e-01 -6.93583628e-03 -6.98282660e-03 1.96091344e+00] [ 6.93830444e-03 9.99975875e-01 3.29298080e-04 -4.75487866e-01] [ 6.98037418e-03 -3.77731107e-04 9.99975566e-01 -6.05152983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447193469999995 meters Centerline goodness [0,1] 0.8884188816634047 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.61 [[ 9.99946604e-01 -7.36161924e-03 -7.25222262e-03 1.96191893e+00] [ 7.36477982e-03 9.99972796e-01 4.09199132e-04 -4.76067763e-01] [ 7.24901297e-03 -4.62588306e-04 9.99973619e-01 -6.05630973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477193469999996 meters Centerline goodness [0,1] 0.887883168856203 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.61 [[ 9.99938782e-01 -8.00451224e-03 -7.63934216e-03 1.96324281e+00] [ 8.00672272e-03 9.99967912e-01 2.58813721e-04 -4.76481157e-01] [ 7.63702535e-03 -3.19963972e-04 9.99970786e-01 -6.06159749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50719347 meters Centerline goodness [0,1] 0.8856021605198751 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.61 [[ 0.99989231 -0.01252467 -0.00764848 1.963143 ] [ 0.01249562 0.99991458 -0.0038338 -0.47677383] [ 0.00769584 0.00373781 0.9999634 -0.60557122] [ 0. 0. 0. 1. ]] SLAMing on 46.53719347 meters Centerline goodness [0,1] 0.8879828506578118 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.61 [[ 0.99988422 -0.01297777 -0.00794459 1.96383249] [ 0.01294698 0.99990852 -0.00391394 -0.47763782] [ 0.00799465 0.00381063 0.99996078 -0.60542975] [ 0. 0. 0. 1. ]] SLAMing on 46.56719346999999 meters Centerline goodness [0,1] 0.8898420336855319 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.61 [[ 0.99987722 -0.01334864 -0.00820767 1.96452282] [ 0.01331357 0.99990207 -0.004313 -0.47691621] [ 0.00826443 0.0042032 0.99995702 -0.60551901] [ 0. 0. 0. 1. ]] SLAMing on 46.59719346999999 meters Centerline goodness [0,1] 0.8888982426602126 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.60 [[ 9.99917080e-01 -9.70937466e-03 -8.45936030e-03 1.96457647e+00] [ 9.70654645e-03 9.99952820e-01 -3.75321717e-04 -4.76954426e-01] [ 8.46260533e-03 2.93179422e-04 9.99964149e-01 -6.04720929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627193469999995 meters Centerline goodness [0,1] 0.8897385662221661 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.47, Z:-0.60 [[ 0.99994588 -0.00601396 -0.00848977 1.96439221] [ 0.00603317 0.99997929 0.00223908 -0.4719366 ] [ 0.00847613 -0.00229018 0.99996145 -0.60447458] [ 0. 0. 0. 1. ]] SLAMing on 46.657193469999996 meters Centerline goodness [0,1] 0.8897385662221661 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.47, Z:-0.60 [[ 0.99994588 -0.00601396 -0.00848977 1.96439221] [ 0.00603317 0.99997929 0.00223908 -0.4719366 ] [ 0.00847613 -0.00229018 0.99996145 -0.60447458] [ 0. 0. 0. 1. ]] SLAMing on 46.68719347 meters Centerline goodness [0,1] 0.8901046225667959 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.47, Z:-0.61 [[ 9.99988563e-01 -1.77314032e-03 -4.44176552e-03 1.97905175e+00] [ 1.76091157e-03 9.99994653e-01 -2.75552945e-03 -4.67988743e-01] [ 4.44662771e-03 2.74767638e-03 9.99986339e-01 -6.09218203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71719347 meters Centerline goodness [0,1] 0.8904940889906138 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.47, Z:-0.61 [[ 9.99988019e-01 1.22384397e-03 -4.73964806e-03 1.98035705e+00] [-1.22391387e-03 9.99999251e-01 -1.18476670e-05 -4.65013651e-01] [ 4.73963001e-03 1.76484460e-05 9.99988768e-01 -6.10042627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74719346999999 meters Centerline goodness [0,1] 0.8868541256338265 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.46, Z:-0.61 [[ 9.99978436e-01 3.53220351e-03 -5.53626491e-03 1.98339387e+00] [-3.52623473e-03 9.99993191e-01 1.08751495e-03 -4.58545008e-01] [ 5.54006854e-03 -1.06796933e-03 9.99984083e-01 -6.12130073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77719346999999 meters Centerline goodness [0,1] 0.8864300889795746 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.46, Z:-0.61 [[ 9.99978357e-01 3.34221324e-03 -5.66701889e-03 1.98350370e+00] [-3.34017702e-03 9.99994354e-01 3.68737098e-04 -4.56245657e-01] [ 5.66821929e-03 -3.49800272e-04 9.99983874e-01 -6.11983686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807193469999994 meters Centerline goodness [0,1] 0.8874279804993352 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.45, Z:-0.61 [[ 9.99978372e-01 3.21258977e-03 -5.73886085e-03 1.98314336e+00] [-3.21449596e-03 9.99994781e-01 -3.22962169e-04 -4.53784355e-01] [ 5.73779335e-03 3.41402729e-04 9.99983480e-01 -6.11265346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837193469999995 meters Centerline goodness [0,1] 0.8877846269971066 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.45, Z:-0.61 [[ 9.99978137e-01 3.01186761e-03 -5.88679654e-03 1.98319192e+00] [-3.01963565e-03 9.99994581e-01 -1.31112727e-03 -4.50223180e-01] [ 5.88281570e-03 1.32887458e-03 9.99981813e-01 -6.10925926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86719347 meters Centerline goodness [0,1] 0.8877454185031317 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.44, Z:-0.61 [[ 9.99959891e-01 6.63792352e-03 -6.01289376e-03 1.98327217e+00] [-6.63124827e-03 9.99977375e-01 1.12941284e-03 -4.42825389e-01] [ 6.02025468e-03 -1.08949455e-03 9.99981285e-01 -6.10681078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89719347 meters Centerline goodness [0,1] 0.8863870493009566 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.44, Z:-0.61 [[ 9.99959559e-01 6.39527246e-03 -6.32308776e-03 1.98466766e+00] [-6.39674902e-03 9.99979518e-01 -2.13322418e-04 -4.37699999e-01] [ 6.32159399e-03 2.53760996e-04 9.99979986e-01 -6.11924282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92719347 meters Centerline goodness [0,1] 0.8856706679493078 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:-0.61 [[ 9.99958786e-01 6.25790153e-03 -6.57755655e-03 1.98557026e+00] [-6.26656060e-03 9.99979524e-01 -1.29667334e-03 -4.33668170e-01] [ 6.56930742e-03 1.33783855e-03 9.99977527e-01 -6.12578823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95719346999999 meters Centerline goodness [0,1] 0.8826174142480211 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:-0.61 [[ 9.99954920e-01 7.23142610e-03 -6.15337945e-03 1.98291496e+00] [-7.23947782e-03 9.99972966e-01 -1.28723707e-03 -4.30712133e-01] [ 6.14390454e-03 1.33172630e-03 9.99980239e-01 -6.10095037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.987193469999994 meters Centerline goodness [0,1] 0.8833967579841473 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:-0.61 [[ 9.99956217e-01 6.90872475e-03 -6.31136808e-03 1.98308440e+00] [-6.92055327e-03 9.99974334e-01 -1.85424698e-03 -4.29774995e-01] [ 6.29839561e-03 1.89784395e-03 9.99978364e-01 -6.09741747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.017193469999995 meters Centerline goodness [0,1] 0.8837111317097834 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:-0.61 [[ 0.99995472 0.00715148 -0.0062775 1.98274253] [-0.00716713 0.99997125 -0.00247538 -0.42598018] [ 0.00625962 0.00252026 0.99997723 -0.60930952] [ 0. 0. 0. 1. ]] SLAMing on 47.047193469999996 meters Centerline goodness [0,1] 0.8831435700656308 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 9.99928122e-01 9.77099031e-03 -6.94821919e-03 1.98557182e+00] [-9.77115346e-03 9.99952261e-01 1.04668378e-05 -4.24400747e-01] [ 6.94798976e-03 5.74260305e-05 9.99975861e-01 -6.11132037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07719347 meters Centerline goodness [0,1] 0.8834920901346985 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 9.99926039e-01 9.84052138e-03 -7.14712648e-03 1.98662444e+00] [-9.84544771e-03 9.99951318e-01 -6.54417374e-04 -4.21709282e-01] [ 7.14033874e-03 7.24735633e-04 9.99974245e-01 -6.12160994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10719347 meters Centerline goodness [0,1] 0.8816205906394752 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 9.99925182e-01 9.70373051e-03 -7.44766874e-03 1.98781130e+00] [-9.71458122e-03 9.99951801e-01 -1.42213608e-03 -4.19309919e-01] [ 7.43350975e-03 1.49438066e-03 9.99971254e-01 -6.13061768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13719346999999 meters Centerline goodness [0,1] 0.8824087745201434 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 9.99917549e-01 1.05719862e-02 -7.28891093e-03 1.98661525e+00] [-1.05780338e-02 9.99943738e-01 -7.91641121e-04 -4.19142103e-01] [ 7.28013162e-03 8.68678196e-04 9.99973122e-01 -6.11826628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167193469999994 meters Centerline goodness [0,1] 0.8853860428264632 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 9.99919932e-01 1.02190093e-02 -7.46335888e-03 1.98714108e+00] [-1.02254694e-02 9.99947376e-01 -8.27940002e-04 -4.19931800e-01] [ 7.45450540e-03 9.04190058e-04 9.99971806e-01 -6.11797138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197193469999995 meters Centerline goodness [0,1] 0.8872556194458965 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 0.99994114 0.00818146 -0.00712629 1.98598952] [-0.0082001 0.99996302 -0.00259028 -0.41960205] [ 0.00710484 0.00264856 0.99997125 -0.6110103 ] [ 0. 0. 0. 1. ]] SLAMing on 47.227193469999996 meters Centerline goodness [0,1] 0.8890562879263444 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 0.99994738 0.00715681 -0.00734997 1.98734985] [-0.00718059 0.99996905 -0.00321402 -0.41959164] [ 0.00732674 0.00326663 0.99996782 -0.61205916] [ 0. 0. 0. 1. ]] SLAMing on 47.25719347 meters Centerline goodness [0,1] 0.8880450604392127 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 0.99994785 0.00692759 -0.00750328 1.98783645] [-0.00695282 0.99997024 -0.00334178 -0.41953475] [ 0.00747991 0.00339378 0.99996627 -0.61223366] [ 0. 0. 0. 1. ]] SLAMing on 47.28719347 meters Centerline goodness [0,1] 0.8926721415034744 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 0.99994825 0.00654435 -0.00778893 1.9887891 ] [-0.00657304 0.99997168 -0.00366462 -0.41950965] [ 0.00776473 0.00371563 0.99996295 -0.61264711] [ 0. 0. 0. 1. ]] SLAMing on 47.31719346999999 meters Centerline goodness [0,1] 0.895334651466072 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 0.99994999 0.00597328 -0.00802149 1.98953691] [-0.00600589 0.99997377 -0.00404752 -0.41940271] [ 0.0079971 0.0040955 0.99995964 -0.61276251] [ 0. 0. 0. 1. ]] SLAMing on 47.34719346999999 meters Centerline goodness [0,1] 0.895962536387799 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 0.99995056 0.0054712 -0.00830305 1.99032829] [-0.00550849 0.99997482 -0.00447502 -0.41882445] [ 0.00827836 0.00452054 0.99995552 -0.61301908] [ 0. 0. 0. 1. ]] SLAMing on 47.377193469999995 meters Centerline goodness [0,1] 0.8970569713254125 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 0.99994971 0.00438455 -0.00901905 1.99296883] [-0.00443504 0.99997456 -0.00558599 -0.41741316] [ 0.00899433 0.00562571 0.99994373 -0.61465948] [ 0. 0. 0. 1. ]] SLAMing on 47.407193469999996 meters Centerline goodness [0,1] 0.8977389624839922 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.62 [[ 0.9999489 0.00383958 -0.00935154 1.99403478] [-0.00389527 0.99997475 -0.00594417 -0.4167818 ] [ 0.00932848 0.0059803 0.99993861 -0.61508956] [ 0. 0. 0. 1. ]] SLAMing on 47.43719347 meters Centerline goodness [0,1] 0.9020861017950178 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 9.99954536e-01 -7.47519332e-04 -9.50617989e-03 1.99415154e+00] [ 6.48969976e-04 9.99946064e-01 -1.03657350e-02 -4.16019691e-01] [ 9.51341575e-03 1.03590945e-02 9.99901087e-01 -6.14636225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46719347 meters Centerline goodness [0,1] 0.9046524379956133 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.61 [[ 9.99952631e-01 -1.31021250e-03 -9.64465365e-03 1.99438791e+00] [ 1.21158369e-03 9.99946989e-01 -1.02250164e-02 -4.17352301e-01] [ 9.65753933e-03 1.02128467e-02 9.99901210e-01 -6.14238719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49719346999999 meters Centerline goodness [0,1] 0.908594616076471 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:-0.61 [[ 0.99994729 -0.002288 -0.01000868 1.99541707] [ 0.00218182 0.99994137 -0.01060603 -0.4178675 ] [ 0.01003236 0.01058364 0.99989366 -0.61436265] [ 0. 0. 0. 1. ]] SLAMing on 47.52719346999999 meters Centerline goodness [0,1] 0.912610712779418 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.62 [[ 0.99996398 -0.00745949 -0.00404963 1.98528521] [ 0.0074263 0.9999392 -0.00815197 -0.41511947] [ 0.00411019 0.00812161 0.99995857 -0.61594426] [ 0. 0. 0. 1. ]] SLAMing on 47.557193469999994 meters Centerline goodness [0,1] 0.9132080232118077 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.62 [[ 0.99998143 -0.00438197 -0.00423568 1.98583982] [ 0.00436347 0.99998095 -0.00436567 -0.41594968] [ 0.00425473 0.00434711 0.9999815 -0.61578459] [ 0. 0. 0. 1. ]] SLAMing on 47.587193469999995 meters Centerline goodness [0,1] 0.9145544430013826 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:-0.62 [[ 9.99987872e-01 -1.76278714e-03 -4.59867375e-03 1.98747917e+00] [ 1.75561466e-03 9.99997237e-01 -1.56325533e-03 -4.16131471e-01] [ 4.60141673e-03 1.55516287e-03 9.99988204e-01 -6.16646952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61719347 meters Centerline goodness [0,1] 0.9141488733226433 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.41, Z:-0.62 [[ 9.99987557e-01 2.36518821e-03 -4.39227244e-03 1.98726702e+00] [-2.35955777e-03 9.99996389e-01 1.28663671e-03 -4.11399443e-01] [ 4.39529971e-03 -1.27625688e-03 9.99989526e-01 -6.16914998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64719347 meters Centerline goodness [0,1] 0.9131134184302337 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.41, Z:-0.62 [[ 0.99997257 0.00561227 -0.00483334 1.98901258] [-0.00559399 0.99997718 0.00378759 -0.40775638] [ 0.00485449 -0.00376044 0.99998115 -0.61803521] [ 0. 0. 0. 1. ]] SLAMing on 47.67719347 meters Centerline goodness [0,1] 0.9113436584344914 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.40, Z:-0.62 [[ 0.99994487 0.00924113 -0.0049864 1.98943928] [-0.00920774 0.99993531 0.0066781 -0.40455775] [ 0.0050478 -0.00663182 0.99996527 -0.61807532] [ 0. 0. 0. 1. ]] SLAMing on 47.70719346999999 meters Centerline goodness [0,1] 0.9076129303990734 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.40, Z:-0.62 [[ 0.99990088 0.01324813 -0.00476569 1.98806285] [-0.01320468 0.99987199 0.00903556 -0.39896024] [ 0.00488478 -0.00897174 0.99994782 -0.61661467] [ 0. 0. 0. 1. ]] SLAMing on 47.737193469999994 meters Centerline goodness [0,1] 0.907711677683349 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.40, Z:-0.62 [[ 0.99990214 0.01303679 -0.00507543 1.98897312] [-0.01299639 0.99988423 0.00791334 -0.39543744] [ 0.00517801 -0.0078466 0.99995581 -0.61713735] [ 0. 0. 0. 1. ]] SLAMing on 47.767193469999995 meters Centerline goodness [0,1] 0.9079258716364779 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.39, Z:-0.62 [[ 0.99990949 0.01233041 -0.00538305 1.99069809] [-0.01229637 0.99990448 0.00631099 -0.39126212] [ 0.00546036 -0.00624422 0.9999656 -0.6187277 ] [ 0. 0. 0. 1. ]] SLAMing on 47.797193469999996 meters Centerline goodness [0,1] 0.9059398638825091 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.38, Z:-0.62 [[ 0.99991262 0.0119743 -0.0056014 1.99225905] [-0.01194952 0.99991876 0.00443629 -0.38413118] [ 0.00565407 -0.00436897 0.99997447 -0.62056772] [ 0. 0. 0. 1. ]] SLAMing on 47.82719347 meters Centerline goodness [0,1] 0.9058535452684018 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.38, Z:-0.62 [[ 0.99991749 0.01145462 -0.00581422 1.99322594] [-0.01143613 0.99992947 0.00320409 -0.38110508] [ 0.00585051 -0.00313734 0.99997796 -0.62134163] [ 0. 0. 0. 1. ]] SLAMing on 47.85719347 meters Centerline goodness [0,1] 0.9055702250722998 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.38, Z:-0.62 [[ 0.99991983 0.01104606 -0.00619037 1.99442541] [-0.01103276 0.99993677 0.00217765 -0.37856291] [ 0.00621403 -0.00210918 0.99997847 -0.62203445] [ 0. 0. 0. 1. ]] SLAMing on 47.88719346999999 meters Centerline goodness [0,1] 0.9058090062765912 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.38, Z:-0.62 [[ 9.99923020e-01 1.05814623e-02 -6.47975375e-03 1.99543862e+00] [-1.05731176e-02 9.99943231e-01 1.32071859e-03 -3.76196926e-01] [ 6.49336103e-03 -1.25210572e-03 9.99978134e-01 -6.22678996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917193469999994 meters Centerline goodness [0,1] 0.9049856709372893 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 9.99928165e-01 9.94592232e-03 -6.68900269e-03 1.99634510e+00] [-9.94359391e-03 9.99950489e-01 3.81262756e-04 -3.74244817e-01] [ 6.69246352e-03 -3.14722641e-04 9.99977556e-01 -6.23349370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947193469999995 meters Centerline goodness [0,1] 0.9074531147817648 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 9.99930955e-01 9.54211621e-03 -6.85807464e-03 1.99699497e+00] [-9.54217821e-03 9.99954472e-01 2.36814725e-05 -3.74051408e-01] [ 6.85798838e-03 4.17611329e-05 9.99976483e-01 -6.23692251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977193469999996 meters Centerline goodness [0,1] 0.9074944400151064 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 9.99934004e-01 9.04096890e-03 -7.08860154e-03 1.99775158e+00] [-9.04426566e-03 9.99959006e-01 -4.33161407e-04 -3.73517908e-01] [ 7.08439475e-03 4.97244015e-04 9.99974782e-01 -6.24013242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00719347 meters Centerline goodness [0,1] 0.908382229673093 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 9.99937861e-01 8.37672831e-03 -7.35555956e-03 1.99855397e+00] [-8.38432323e-03 9.99964349e-01 -1.00231172e-03 -3.72751275e-01] [ 7.34690123e-03 1.06392082e-03 9.99972445e-01 -6.24253149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03719347 meters Centerline goodness [0,1] 0.9086854558398593 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 0.99996423 0.00419126 -0.00734614 1.9983239 ] [-0.00423002 0.99997718 -0.005268 -0.37111792] [ 0.00732389 0.00529888 0.99995914 -0.62388036] [ 0. 0. 0. 1. ]] SLAMing on 48.06719346999999 meters Centerline goodness [0,1] 0.9090225563909774 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 0.99996424 0.00377943 -0.00756591 1.998795 ] [-0.00381948 0.99997873 -0.00528683 -0.37203603] [ 0.00754577 0.00531554 0.9999574 -0.62376725] [ 0. 0. 0. 1. ]] SLAMing on 48.09719346999999 meters Centerline goodness [0,1] 0.9105955402655703 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 0.99996391 0.00354674 -0.00771956 1.99908173] [-0.0035878 0.99997946 -0.00531117 -0.37264405] [ 0.00770057 0.00533868 0.9999561 -0.62365358] [ 0. 0. 0. 1. ]] SLAMing on 48.127193469999995 meters Centerline goodness [0,1] 0.910975889303353 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 0.99996194 0.00306722 -0.00816754 2.00022787] [-0.00311527 0.99997788 -0.00587646 -0.37144089] [ 0.00814933 0.00590168 0.99994938 -0.62389212] [ 0. 0. 0. 1. ]] SLAMing on 48.157193469999996 meters Centerline goodness [0,1] 0.9134253714093593 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 0.9999602 0.00317316 -0.00833841 2.00072416] [-0.00322344 0.99997667 -0.00602254 -0.36985745] [ 0.00831911 0.00604917 0.9999471 -0.62413631] [ 0. 0. 0. 1. ]] SLAMing on 48.18719347 meters Centerline goodness [0,1] 0.911783199195171 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.63 [[ 0.9999489 0.00490883 -0.00883801 2.00325215] [-0.0049463 0.99997885 -0.00422277 -0.36867788] [ 0.00881709 0.00426627 0.99995203 -0.62587615] [ 0. 0. 0. 1. ]] SLAMing on 48.21719347 meters Centerline goodness [0,1] 0.9113997956502701 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.63 [[ 9.99922051e-01 8.56587521e-03 -9.08391866e-03 2.00355911e+00] [-8.57404608e-03 9.99962872e-01 -8.60924520e-04 -3.67030031e-01] [ 9.07620682e-03 9.38743349e-04 9.99958370e-01 -6.25228548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24719346999999 meters Centerline goodness [0,1] 0.9082753839366373 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 9.99915514e-01 9.25043037e-03 -9.13203338e-03 2.00267225e+00] [-9.25590019e-03 9.99957008e-01 -5.56887833e-04 -3.66662040e-01] [ 9.12648932e-03 6.41365973e-04 9.99958147e-01 -6.23868520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27719346999999 meters Centerline goodness [0,1] 0.9087614938315565 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 9.99909730e-01 9.48817321e-03 -9.51347880e-03 2.00308984e+00] [-9.49595090e-03 9.99954614e-01 -7.72706228e-04 -3.65887956e-01] [ 9.50571545e-03 8.62976004e-04 9.99954447e-01 -6.23355156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307193469999994 meters Centerline goodness [0,1] 0.9104877390419635 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.37, Z:-0.62 [[ 0.99986689 0.01303641 -0.00981069 2.00364582] [-0.0130082 0.99991109 0.00293382 -0.36617282] [ 0.00984806 -0.00280581 0.99994757 -0.62296859] [ 0. 0. 0. 1. ]] SLAMing on 48.337193469999995 meters Centerline goodness [0,1] 0.9100225884715134 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.36, Z:-0.62 [[ 0.99980257 0.01731085 -0.0097551 2.00285032] [-0.01724707 0.99982957 0.0065855 -0.36352754] [ 0.00986744 -0.00641595 0.99993073 -0.62175733] [ 0. 0. 0. 1. ]] SLAMing on 48.36719347 meters Centerline goodness [0,1] 0.910569789192711 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.36, Z:-0.62 [[ 0.99979711 0.01752321 -0.00993345 2.00335152] [-0.01746065 0.99982739 0.00634976 -0.362195 ] [ 0.01004301 -0.00617503 0.9999305 -0.62192721] [ 0. 0. 0. 1. ]] SLAMing on 48.39719347 meters Centerline goodness [0,1] 0.9101613879783702 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.36, Z:-0.62 [[ 0.99979026 0.01769881 -0.01030435 2.00484259] [-0.01763549 0.99982523 0.00620409 -0.36198771] [ 0.01041236 -0.00602106 0.99992766 -0.62294319] [ 0. 0. 0. 1. ]] SLAMing on 48.42719347 meters Centerline goodness [0,1] 0.9045638839796236 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.36, Z:-0.63 [[ 0.9997541 0.01903537 -0.01137494 2.01001509] [-0.01895256 0.99979341 0.00734443 -0.36482142] [ 0.01151239 -0.00712704 0.99990833 -0.62692885] [ 0. 0. 0. 1. ]] SLAMing on 48.45719346999999 meters Centerline goodness [0,1] 0.9050003155436818 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.37, Z:-0.63 [[ 0.99974609 0.01928982 -0.01164742 2.01146669] [-0.01920203 0.99978672 0.00760199 -0.36584098] [ 0.01179158 -0.0073764 0.99990327 -0.62814398] [ 0. 0. 0. 1. ]] SLAMing on 48.487193469999994 meters Centerline goodness [0,1] 0.9037695695231673 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.37, Z:-0.63 [[ 0.9997457 0.01895584 -0.01221546 2.01404801] [-0.01886905 0.99979617 0.00718124 -0.36629167] [ 0.01234909 -0.00694892 0.9998996 -0.63008367] [ 0. 0. 0. 1. ]] SLAMing on 48.517193469999995 meters Centerline goodness [0,1] 0.9001448393123281 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.37, Z:-0.63 [[ 0.99973194 0.01942993 -0.01259069 2.01537359] [-0.01933269 0.99978269 0.00779887 -0.36801736] [ 0.01273949 -0.00755337 0.99989032 -0.63082258] [ 0. 0. 0. 1. ]] SLAMing on 48.547193469999996 meters Centerline goodness [0,1] 0.9001448393123281 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.37, Z:-0.63 [[ 0.99973194 0.01942993 -0.01259069 2.01537359] [-0.01933269 0.99978269 0.00779887 -0.36801736] [ 0.01273949 -0.00755337 0.99989032 -0.63082258] [ 0. 0. 0. 1. ]] SLAMing on 48.57719347 meters Centerline goodness [0,1] 0.8972708979626058 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.37, Z:-0.63 [[ 0.99970234 0.0206657 -0.01296739 2.01601779] [-0.02054536 0.99974524 0.00934583 -0.37178367] [ 0.01315722 -0.00907662 0.99987224 -0.63065581] [ 0. 0. 0. 1. ]] SLAMing on 48.60719347 meters Centerline goodness [0,1] 0.8964328505664978 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.37, Z:-0.63 [[ 0.99975891 0.01764969 -0.01306141 2.01581913] [-0.01757091 0.99982688 0.00612188 -0.37260204] [ 0.0131672 -0.0058909 0.99989596 -0.63028876] [ 0. 0. 0. 1. ]] SLAMing on 48.63719346999999 meters Centerline goodness [0,1] 0.897189798612712 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.37, Z:-0.63 [[ 0.99980787 0.01449088 -0.01319967 2.01568686] [-0.01445178 0.99989091 0.0030528 -0.37433108] [ 0.01324247 -0.00286146 0.99990822 -0.6297503 ] [ 0. 0. 0. 1. ]] SLAMing on 48.667193469999994 meters Centerline goodness [0,1] 0.90518347176953 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.38, Z:-0.63 [[ 9.99882976e-01 9.12606955e-03 -1.22779660e-02 2.01105157e+00] [-9.13941100e-03 9.99957703e-01 -1.03094654e-03 -3.81051994e-01] [ 1.22680382e-02 1.14303928e-03 9.99924091e-01 -6.25587668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.697193469999995 meters Centerline goodness [0,1] 0.907804817068089 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.38, Z:-0.63 [[ 0.99997169 0.00398018 -0.00638495 2.01995675] [-0.00396376 0.99998881 0.00258144 -0.38480574] [ 0.00639515 -0.00255606 0.99997628 -0.62766458] [ 0. 0. 0. 1. ]] SLAMing on 48.727193469999996 meters Centerline goodness [0,1] 0.907249736564805 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.39, Z:-0.62 [[ 0.99993632 -0.00391946 -0.01058234 2.00658057] [ 0.00397265 0.99997956 0.00501046 -0.39166181] [ 0.01056248 -0.00505218 0.99993145 -0.62406905] [ 0. 0. 0. 1. ]] SLAMing on 48.75719347 meters Centerline goodness [0,1] 0.9062763446299107 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.39, Z:-0.62 [[ 0.99993046 -0.00466735 -0.01083012 2.00764841] [ 0.00472466 0.99997494 0.00527175 -0.39474628] [ 0.01080525 -0.00532255 0.99992746 -0.62449163] [ 0. 0. 0. 1. ]] SLAMing on 48.78719347 meters Centerline goodness [0,1] 0.9057151267925481 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.40, Z:-0.63 [[ 0.9999171 -0.00604341 -0.01137011 2.01024929] [ 0.00609624 0.99997076 0.0046171 -0.39733422] [ 0.01134188 -0.00468604 0.9999247 -0.62618035] [ 0. 0. 0. 1. ]] SLAMing on 48.81719346999999 meters Centerline goodness [0,1] 0.9021764321682153 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.40, Z:-0.63 [[ 9.99871622e-01 -1.05393491e-02 -1.20690501e-02 2.01411755e+00] [ 1.05561373e-02 9.99943400e-01 1.32815450e-03 -4.02014556e-01] [ 1.20543691e-02 -1.45538654e-03 9.99926284e-01 -6.29014899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84719346999999 meters Centerline goodness [0,1] 0.9013106683777586 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.40, Z:-0.63 [[ 9.99863157e-01 -1.08446048e-02 -1.24924476e-02 2.01573718e+00] [ 1.08675157e-02 9.99939385e-01 1.76755804e-03 -4.04345503e-01] [ 1.24725219e-02 -1.90307803e-03 9.99920404e-01 -6.29922878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.877193469999995 meters Centerline goodness [0,1] 0.90241126380575 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:-0.63 [[ 9.99856626e-01 -1.11101420e-02 -1.27786138e-02 2.01678443e+00] [ 1.11367828e-02 9.99935953e-01 2.01552604e-03 -4.05532691e-01] [ 1.27554026e-02 -2.15754971e-03 9.99916319e-01 -6.30400653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.907193469999996 meters Centerline goodness [0,1] 0.9035263791755583 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:-0.63 [[ 0.99985352 -0.01120216 -0.01294046 2.01699747] [ 0.01123358 0.99993412 0.00235793 -0.40650974] [ 0.0129132 -0.00250295 0.99991349 -0.63006389] [ 0. 0. 0. 1. ]] SLAMing on 48.93719347 meters Centerline goodness [0,1] 0.9046023517511695 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:-0.63 [[ 9.99837141e-01 -1.23850188e-02 -1.31264482e-02 2.01737188e+00] [ 1.24096987e-02 9.99921376e-01 1.80038427e-03 -4.07055461e-01] [ 1.31031184e-02 -1.96298633e-03 9.99912224e-01 -6.29523526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96719347 meters Centerline goodness [0,1] 0.9042530859014191 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:-0.63 [[ 0.9998992 -0.01178877 -0.00791249 2.02869487] [ 0.01173288 0.99990615 -0.00707332 -0.40620291] [ 0.00799514 0.00697977 0.99994368 -0.63276738] [ 0. 0. 0. 1. ]] SLAMing on 48.99719346999999 meters Centerline goodness [0,1] 0.9045872333249009 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:-0.63 [[ 0.99989293 -0.01212645 -0.00819049 2.0290144 ] [ 0.0120702 0.99990347 -0.00688206 -0.40771132] [ 0.00827315 0.00678246 0.99994277 -0.63222858] [ 0. 0. 0. 1. ]] SLAMing on 49.02719346999999 meters Centerline goodness [0,1] 0.9050206659253509 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:-0.63 [[ 0.99986115 -0.01416467 -0.00877714 2.03116486] [ 0.01409075 0.9998652 -0.00842779 -0.4081602 ] [ 0.00889534 0.00830295 0.99992596 -0.63311109] [ 0. 0. 0. 1. ]] SLAMing on 49.057193469999994 meters Centerline goodness [0,1] 0.9017840177346141 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:-0.63 [[ 0.99989429 -0.01141911 -0.00900087 2.03217979] [ 0.01137418 0.99992267 -0.00502772 -0.40816418] [ 0.00905759 0.00492482 0.99994685 -0.63365246] [ 0. 0. 0. 1. ]] SLAMing on 49.087193469999995 meters Centerline goodness [0,1] 0.8934745530732139 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:-0.64 [[ 0.99991281 -0.00913071 -0.00953972 2.03443501] [ 0.00910885 0.99995579 -0.00233256 -0.40661416] [ 0.00956059 0.00224547 0.99995178 -0.63505368] [ 0. 0. 0. 1. ]] SLAMing on 49.11719347 meters Centerline goodness [0,1] 0.8824821641525619 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:-0.64 [[ 9.99913143e-01 -8.32219901e-03 -1.02199630e-02 2.03818598e+00] [ 8.30820538e-03 9.99964491e-01 -1.41093885e-03 -4.04633315e-01] [ 1.02313422e-02 1.32590675e-03 9.99946779e-01 -6.37893881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14719347 meters Centerline goodness [0,1] 0.8681863022899482 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:-0.64 [[ 0.99989415 -0.00987315 -0.01068712 2.04017379] [ 0.00983976 0.99994655 -0.00317298 -0.4015983 ] [ 0.01071787 0.00306748 0.99993786 -0.63914587] [ 0. 0. 0. 1. ]] SLAMing on 49.17719347 meters Centerline goodness [0,1] 0.8663048528107447 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:-0.64 [[ 0.99988662 -0.01035537 -0.0109321 2.04091605] [ 0.01031327 0.99993921 -0.00390028 -0.40014285] [ 0.01097183 0.00378709 0.99993264 -0.63945001] [ 0. 0. 0. 1. ]] SLAMing on 49.20719346999999 meters Centerline goodness [0,1] 0.8619210080164096 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.40, Z:-0.64 [[ 0.99995481 -0.00774086 -0.00551809 2.05352792] [ 0.00768328 0.99991659 -0.0103814 -0.3975834 ] [ 0.00559799 0.01033853 0.99993089 -0.64368564] [ 0. 0. 0. 1. ]] SLAMing on 49.237193469999994 meters Centerline goodness [0,1] 0.8713931706497543 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.40, Z:-0.64 [[ 0.9999752 -0.0042866 -0.00558862 2.05339024] [ 0.00424696 0.99996588 -0.00708542 -0.39576423] [ 0.0056188 0.00706151 0.99995928 -0.64316031] [ 0. 0. 0. 1. ]] SLAMing on 49.267193469999995 meters Centerline goodness [0,1] 0.8846726346464286 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.39, Z:-0.64 [[ 9.99983327e-01 1.71699498e-03 -5.51346656e-03 2.05253122e+00] [-1.73209162e-03 9.99994761e-01 -2.73453248e-03 -3.86066737e-01] [ 5.50874249e-03 2.74403671e-03 9.99981062e-01 -6.41931219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.297193469999996 meters Centerline goodness [0,1] 0.8978982765868012 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.38, Z:-0.64 [[ 9.99971432e-01 5.10886573e-03 -5.57083886e-03 2.05241957e+00] [-5.11108397e-03 9.99986865e-01 -3.84024435e-04 -3.80630465e-01] [ 5.56880375e-03 4.12486489e-04 9.99984409e-01 -6.41484947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32719347 meters Centerline goodness [0,1] 0.8994970644557143 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.38, Z:-0.64 [[ 9.99948160e-01 8.31811122e-03 -5.87251874e-03 2.05343930e+00] [-8.30813968e-03 9.99964007e-01 1.72035815e-03 -3.75411315e-01] [ 5.88661750e-03 -1.67147926e-03 9.99981277e-01 -6.41935541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35719347 meters Centerline goodness [0,1] 0.9029382978280336 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.36, Z:-0.65 [[ 9.99917878e-01 1.27270386e-02 -1.50327210e-03 2.06758541e+00] [-1.27333607e-02 9.99909795e-01 -4.27365212e-03 -3.64383227e-01] [ 1.44874556e-03 4.29244286e-03 9.99989738e-01 -6.46187741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38719346999999 meters Centerline goodness [0,1] 0.9021867796398978 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.36, Z:-0.65 [[ 9.99917440e-01 1.27175502e-02 -1.83780120e-03 2.06800545e+00] [-1.27274807e-02 9.99903894e-01 -5.49678092e-03 -3.59429674e-01] [ 1.76771899e-03 5.51971769e-03 9.99983204e-01 -6.45875186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417193469999994 meters Centerline goodness [0,1] 0.901042761636463 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.36, Z:-0.64 [[ 9.99894023e-01 1.44710724e-02 -1.59066917e-03 2.06612783e+00] [-1.44778815e-02 9.99885702e-01 -4.35584068e-03 -3.55241972e-01] [ 1.52745368e-03 4.37840858e-03 9.99989248e-01 -6.43799197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447193469999995 meters Centerline goodness [0,1] 0.902248451851544 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.35, Z:-0.64 [[ 9.99846547e-01 1.74141067e-02 -1.90585958e-03 2.06675812e+00] [-1.74175977e-02 9.99846626e-01 -1.83068835e-03 -3.51945759e-01] [ 1.87368747e-03 1.86360292e-03 9.99996508e-01 -6.43386707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.477193469999996 meters Centerline goodness [0,1] 0.898582288023789 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.34, Z:-0.64 [[ 9.99802228e-01 1.97783229e-02 -2.07932726e-03 2.06627613e+00] [-1.97799699e-02 9.99804057e-01 -7.74505829e-04 -3.43741603e-01] [ 2.06360140e-03 8.15481683e-04 9.99997538e-01 -6.42069204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50719347 meters Centerline goodness [0,1] 0.8986582215184599 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.34, Z:-0.64 [[ 9.99809288e-01 1.93870255e-02 -2.35195781e-03 2.06703071e+00] [-1.93918360e-02 9.99809879e-01 -2.04003996e-03 -3.39954725e-01] [ 2.31196035e-03 2.08525968e-03 9.99995153e-01 -6.42283760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53719347 meters Centerline goodness [0,1] 0.8985589565583254 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.34, Z:-0.64 [[ 0.99980971 0.01934636 -0.00250061 2.06714187] [-0.01935329 0.99980885 -0.00277854 -0.33684812] [ 0.00244638 0.0028264 0.99999301 -0.64200127] [ 0. 0. 0. 1. ]] SLAMing on 49.56719346999999 meters Centerline goodness [0,1] 0.8984165549597856 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.64 [[ 0.99982762 0.01831105 -0.00307092 2.06897462] [-0.01832538 0.999821 -0.00470516 -0.33215491] [ 0.00298421 0.00476062 0.99998422 -0.64295374] [ 0. 0. 0. 1. ]] SLAMing on 49.59719346999999 meters Centerline goodness [0,1] 0.898835302527015 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.64 [[ 0.99983798 0.01772257 -0.00314983 2.06941087] [-0.01773979 0.99982736 -0.00552689 -0.33068354] [ 0.00305133 0.00558187 0.99997977 -0.64329805] [ 0. 0. 0. 1. ]] SLAMing on 49.627193469999995 meters Centerline goodness [0,1] 0.8990748880237767 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.64 [[ 0.99984697 0.01714104 -0.00349607 2.07069823] [-0.01716296 0.9998326 -0.00633997 -0.32906971] [ 0.00338681 0.00639901 0.99997379 -0.64407648] [ 0. 0. 0. 1. ]] SLAMing on 49.657193469999996 meters Centerline goodness [0,1] 0.9002166915616518 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.33, Z:-0.65 [[ 0.99985287 0.01675754 -0.00366421 2.07209906] [-0.01678405 0.99983228 -0.00732894 -0.32577057] [ 0.00354079 0.00738936 0.99996643 -0.64540387] [ 0. 0. 0. 1. ]] SLAMing on 49.68719347 meters Centerline goodness [0,1] 0.8988754580297351 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.32, Z:-0.65 [[ 0.99985693 0.01640788 -0.00410987 2.07399839] [-0.01644156 0.99983039 -0.00829874 -0.32301284] [ 0.00397301 0.00836512 0.99995712 -0.64674058] [ 0. 0. 0. 1. ]] SLAMing on 49.71719347 meters Centerline goodness [0,1] 0.8970360122416468 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.65 [[ 0.99981178 0.0188237 -0.00469827 2.07676286] [-0.01885241 0.9998034 -0.00614361 -0.32073266] [ 0.0045817 0.00623103 0.99997009 -0.64853008] [ 0. 0. 0. 1. ]] SLAMing on 49.74719346999999 meters Centerline goodness [0,1] 0.8961201241227066 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.65 [[ 0.99976029 0.02124869 -0.0052787 2.0790481 ] [-0.0212697 0.99976595 -0.00395649 -0.31871958] [ 0.0051934 0.00406781 0.99997824 -0.6496751 ] [ 0. 0. 0. 1. ]] SLAMing on 49.77719346999999 meters Centerline goodness [0,1] 0.895741648853682 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.65 [[ 0.99974788 0.02183364 -0.00524195 2.07806034] [-0.02185571 0.99975235 -0.00419076 -0.31640879] [ 0.00514916 0.00430427 0.99997748 -0.64831899] [ 0. 0. 0. 1. ]] SLAMing on 49.807193469999994 meters Centerline goodness [0,1] 0.8957161673391734 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.65 [[ 0.99975395 0.02149788 -0.0054666 2.0785366 ] [-0.02152345 0.99975747 -0.00466272 -0.31581347] [ 0.00536503 0.00477924 0.99997419 -0.64820491] [ 0. 0. 0. 1. ]] SLAMing on 49.837193469999995 meters Centerline goodness [0,1] 0.895166894808887 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.65 [[ 0.99976268 0.02107117 -0.00553113 2.0783093 ] [-0.02109894 0.99976484 -0.00501085 -0.31573043] [ 0.00542424 0.00512636 0.99997215 -0.64757573] [ 0. 0. 0. 1. ]] SLAMing on 49.86719347 meters Centerline goodness [0,1] 0.8965459563435645 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.65 [[ 9.99872410e-01 1.59726894e-02 1.93521262e-04 2.08447259e+00] [-1.59725808e-02 9.99872279e-01 -5.50191141e-04 -3.16439244e-01] [-2.02284577e-04 5.47029907e-04 9.99999830e-01 -6.47194868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89719347 meters Centerline goodness [0,1] 0.9000104810816476 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:-0.65 [[ 9.99922741e-01 1.24279481e-02 2.40090397e-04 2.08426348e+00] [-1.24268033e-02 9.99913569e-01 -4.29301711e-03 -3.15575267e-01] [-2.93423039e-04 4.28970188e-03 9.99990756e-01 -6.47061687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92719347 meters Centerline goodness [0,1] 0.9011865151610271 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 9.99930596e-01 1.17808942e-02 -1.18790672e-04 2.08544859e+00] [-1.17813101e-02 9.99920430e-01 -4.50938790e-03 -3.16359459e-01] [ 6.56565983e-05 4.51047444e-03 9.99989826e-01 -6.47559916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95719346999999 meters Centerline goodness [0,1] 0.9013325535736664 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 9.99943196e-01 1.06310474e-02 -7.65288957e-04 2.08753840e+00] [-1.06348983e-02 9.99929837e-01 -5.21724247e-03 -3.16903330e-01] [ 7.09770511e-04 5.22508488e-03 9.99986097e-01 -6.48611713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.987193469999994 meters Centerline goodness [0,1] 0.9024761666353756 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 9.99975326e-01 6.96946212e-03 -8.79553681e-04 2.08739983e+00] [-6.97675398e-03 9.99938860e-01 -8.57915520e-03 -3.18903176e-01] [ 8.19707807e-04 8.58507995e-03 9.99962812e-01 -6.47982006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.017193469999995 meters Centerline goodness [0,1] 0.9027408446575514 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 9.99977784e-01 6.60255108e-03 -9.14998140e-04 2.08768285e+00] [-6.61011283e-03 9.99941826e-01 -8.52350257e-03 -3.20460889e-01] [ 8.58668050e-04 8.52936146e-03 9.99963256e-01 -6.48114393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.047193469999996 meters Centerline goodness [0,1] 0.8998112020138451 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 9.99983647e-01 5.63619757e-03 -9.69509501e-04 2.08899644e+00] [-5.64475673e-03 9.99942983e-01 -9.06458458e-03 -3.20096373e-01] [ 9.18364433e-04 9.06990899e-03 9.99958446e-01 -6.49475920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07719347 meters Centerline goodness [0,1] 0.8942756036636137 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 9.99987695e-01 4.68991705e-03 -1.61703391e-03 2.09165570e+00] [-4.70586946e-03 9.99938858e-01 -1.00067468e-02 -3.19094239e-01] [ 1.57000423e-03 1.00142332e-02 9.99948624e-01 -6.51200082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10719347 meters Centerline goodness [0,1] 0.8906768517938763 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 9.99988229e-01 4.45777341e-03 -1.91597929e-03 2.09242636e+00] [-4.47723225e-03 9.99937190e-01 -1.02747080e-02 -3.18248568e-01] [ 1.87005662e-03 1.02831653e-02 9.99945378e-01 -6.51347697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13719346999999 meters Centerline goodness [0,1] 0.8819409495051166 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.32, Z:-0.65 [[ 0.9999918 0.00344057 -0.00213823 2.09259836] [-0.00346462 0.99992959 -0.01134994 -0.31590968] [ 0.00209903 0.01135725 0.9999333 -0.65079318] [ 0. 0. 0. 1. ]] SLAMing on 50.167193469999994 meters Centerline goodness [0,1] 0.8796664771650559 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.31, Z:-0.65 [[ 0.99999317 0.00289323 -0.00229787 2.09284333] [-0.00292024 0.99992566 -0.01183863 -0.31461504] [ 0.00226345 0.01184526 0.99992728 -0.65053342] [ 0. 0. 0. 1. ]] SLAMing on 50.197193469999995 meters Centerline goodness [0,1] 0.8580421781554926 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.31, Z:-0.65 [[ 9.99994544e-01 1.96207480e-03 -2.65744740e-03 2.09380593e+00] [-1.99575081e-03 9.99916985e-01 -1.27295100e-02 -3.13371385e-01] [ 2.63225054e-03 1.27347441e-02 9.99915445e-01 -6.50717740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.227193469999996 meters Centerline goodness [0,1] 0.8458128593831677 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.31, Z:-0.65 [[ 9.99994644e-01 4.98817737e-04 -3.23460693e-03 2.09558090e+00] [-5.44616544e-04 9.99899401e-01 -1.41736143e-02 -3.11393887e-01] [ 3.22721148e-03 1.41753000e-02 9.99894317e-01 -6.51445771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25719347 meters Centerline goodness [0,1] 0.8361483654652138 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.31, Z:-0.65 [[ 9.99991333e-01 -1.79068995e-03 -3.75866301e-03 2.09784480e+00] [ 1.72762035e-03 9.99858777e-01 -1.67165006e-02 -3.06558352e-01] [ 3.78806627e-03 1.67098622e-02 9.99853205e-01 -6.52871357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28719347 meters Centerline goodness [0,1] 0.8334870655318436 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.31, Z:-0.65 [[ 9.99992356e-01 6.94198216e-04 -3.84794390e-03 2.09849235e+00] [-7.47341350e-04 9.99904129e-01 -1.38265983e-02 -3.05575543e-01] [ 3.83797659e-03 1.38293684e-02 9.99897004e-01 -6.53216344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31719346999999 meters Centerline goodness [0,1] 0.8429240901798531 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.30, Z:-0.65 [[ 0.99998929 0.00264732 -0.00379757 2.09781537] [-0.00269545 0.99991542 -0.01272371 -0.29832567] [ 0.00376357 0.01273381 0.99991184 -0.65208338] [ 0. 0. 0. 1. ]] SLAMing on 50.34719346999999 meters Centerline goodness [0,1] 0.8039543885343655 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.29, Z:-0.65 [[ 0.99997784 0.00501675 -0.00437575 2.09982797] [-0.00506392 0.99992846 -0.01083646 -0.29425873] [ 0.00432107 0.01085838 0.99993171 -0.65296267] [ 0. 0. 0. 1. ]] SLAMing on 50.377193469999995 meters Centerline goodness [0,1] 0.8334068148894628 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.29, Z:-0.65 [[ 0.99995746 0.00805247 -0.00449817 2.100662 ] [-0.00809075 0.99993065 -0.00855772 -0.28969275] [ 0.00442894 0.00859375 0.99995326 -0.65346782] [ 0. 0. 0. 1. ]] SLAMing on 50.407193469999996 meters Centerline goodness [0,1] 0.8394805303793219 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.28, Z:-0.66 [[ 0.999932 0.01044419 -0.00518884 2.10357083] [-0.01048076 0.99992007 -0.0070721 -0.28436103] [ 0.00511456 0.00712601 0.99996153 -0.65526208] [ 0. 0. 0. 1. ]] SLAMing on 50.43719347 meters Centerline goodness [0,1] 0.8388874916163649 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.28, Z:-0.66 [[ 0.99990493 0.01250964 -0.00579925 2.10660219] [-0.01254291 0.99990488 -0.00573648 -0.27965141] [ 0.00572694 0.00580868 0.99996673 -0.65739888] [ 0. 0. 0. 1. ]] SLAMing on 50.46719347 meters Centerline goodness [0,1] 0.8388874916163649 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.28, Z:-0.66 [[ 0.99990493 0.01250964 -0.00579925 2.10660219] [-0.01254291 0.99990488 -0.00573648 -0.27965141] [ 0.00572694 0.00580868 0.99996673 -0.65739888] [ 0. 0. 0. 1. ]] SLAMing on 50.49719346999999 meters Centerline goodness [0,1] 0.8616880525862612 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.27, Z:-0.66 [[ 0.9998745 0.01470953 -0.00588303 2.1078383 ] [-0.01474187 0.99987625 -0.00549275 -0.26993666] [ 0.00580151 0.00557879 0.99996761 -0.65832699] [ 0. 0. 0. 1. ]] SLAMing on 50.52719346999999 meters Centerline goodness [0,1] 0.8705909637157133 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.27, Z:-0.66 [[ 0.99983572 0.01715535 -0.00585101 2.10701888] [-0.01717829 0.99984486 -0.00389342 -0.26501897] [ 0.00578331 0.00399329 0.9999753 -0.65701218] [ 0. 0. 0. 1. ]] SLAMing on 50.557193469999994 meters Centerline goodness [0,1] 0.8680902683370632 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.26, Z:-0.66 [[ 9.99778848e-01 2.01724247e-02 -5.94373440e-03 2.10709858e+00] [-2.01820060e-02 9.99795111e-01 -1.55645407e-03 -2.60842746e-01] [ 5.91111914e-03 1.67606634e-03 9.99981125e-01 -6.56349033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.587193469999995 meters Centerline goodness [0,1] 0.8881063345106481 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.25, Z:-0.65 [[ 9.99740021e-01 2.20646304e-02 -5.74833911e-03 2.10572648e+00] [-2.20737853e-02 9.99755167e-01 -1.53405275e-03 -2.51468824e-01] [ 5.71308342e-03 1.66054153e-03 9.99982301e-01 -6.54243061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61719347 meters Centerline goodness [0,1] 0.8912391773757363 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.25, Z:-0.65 [[ 0.99974722 0.02169304 -0.00590802 2.10589143] [-0.02171149 0.99975954 -0.0030767 -0.24644788] [ 0.00583985 0.00320419 0.99997781 -0.65370307] [ 0. 0. 0. 1. ]] SLAMing on 50.64719347 meters Centerline goodness [0,1] 0.889497293768296 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.24, Z:-0.65 [[ 0.99975008 0.02149613 -0.00614034 2.10638974] [-0.02152305 0.99975888 -0.00435254 -0.2417783 ] [ 0.0060453 0.00448361 0.99997168 -0.65355387] [ 0. 0. 0. 1. ]] SLAMing on 50.67719346999999 meters Centerline goodness [0,1] 0.8910162618619623 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.23, Z:-0.66 [[ 0.99969842 0.02356255 -0.0069185 2.10972199] [-0.0235883 0.99971504 -0.0036646 -0.23444444] [ 0.00683018 0.00382669 0.99996935 -0.6556287 ] [ 0. 0. 0. 1. ]] SLAMing on 50.70719346999999 meters Centerline goodness [0,1] 0.8899857776290471 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.23, Z:-0.66 [[ 0.99971289 0.02280956 -0.00733868 2.11179295] [-0.02284871 0.99972491 -0.00529482 -0.23007526] [ 0.00721589 0.00546097 0.99995905 -0.65707924] [ 0. 0. 0. 1. ]] SLAMing on 50.737193469999994 meters Centerline goodness [0,1] 0.8999599249119403 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.23, Z:-0.66 [[ 0.99971852 0.02252838 -0.00743977 2.11250172] [-0.02257547 0.99972524 -0.00630785 -0.22629584] [ 0.00729562 0.00647404 0.99995243 -0.65759224] [ 0. 0. 0. 1. ]] SLAMing on 50.767193469999995 meters Centerline goodness [0,1] 0.8980588656364479 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.22, Z:-0.66 [[ 0.99973122 0.02184806 -0.00775518 2.11359863] [-0.02190762 0.9997305 -0.00767972 -0.22254824] [ 0.0075853 0.00784755 0.99994044 -0.65807649] [ 0. 0. 0. 1. ]] SLAMing on 50.797193469999996 meters Centerline goodness [0,1] 0.8932529165014504 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.22, Z:-0.66 [[ 0.99984298 0.01707311 -0.00474611 2.12384469] [-0.0170881 0.99984907 -0.00313681 -0.21739455] [ 0.00469184 0.00321742 0.99998382 -0.65925755] [ 0. 0. 0. 1. ]] SLAMing on 50.82719347 meters Centerline goodness [0,1] 0.8881572070659559 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.21, Z:-0.66 [[ 0.99985994 0.01596636 -0.00501716 2.12420825] [-0.0159886 0.99986238 -0.00442468 -0.21499387] [ 0.00494582 0.00450428 0.99997762 -0.65893878] [ 0. 0. 0. 1. ]] SLAMing on 50.85719347 meters Centerline goodness [0,1] 0.881371932032725 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.21, Z:-0.66 [[ 0.99989462 0.01371806 -0.00475008 2.12276475] [-0.01374977 0.99988296 -0.00670938 -0.21261603] [ 0.00465749 0.00677399 0.99996621 -0.65765106] [ 0. 0. 0. 1. ]] SLAMing on 50.88719346999999 meters Centerline goodness [0,1] 0.8586451300818138 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.21, Z:-0.66 [[ 0.99995738 0.00767128 -0.00513772 2.1242588 ] [-0.00773727 0.99988622 -0.01294905 -0.2092772 ] [ 0.0050378 0.01298825 0.99990296 -0.65853088] [ 0. 0. 0. 1. ]] SLAMing on 50.917193469999994 meters Centerline goodness [0,1] 0.8341470539142046 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:-0.66 [[ 9.99990517e-01 4.06460326e-03 -1.56331092e-03 2.13395674e+00] [-4.07370004e-03 9.99974530e-01 -5.86042986e-03 -2.09149835e-01] [ 1.53945078e-03 5.86674275e-03 9.99981606e-01 -6.60683202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.947193469999995 meters Centerline goodness [0,1] 0.8176831574965323 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:-0.66 [[ 9.99992527e-01 3.46539350e-03 -1.71352782e-03 2.13474768e+00] [-3.47693573e-03 9.99970974e-01 -6.77948286e-03 -2.06156005e-01] [ 1.68998451e-03 6.78539002e-03 9.99975551e-01 -6.61230259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.977193469999996 meters Centerline goodness [0,1] 0.8175850533358581 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.20, Z:-0.66 [[ 9.99981166e-01 5.78697964e-03 -2.04430874e-03 2.13686143e+00] [-5.79829483e-03 9.99967660e-01 -5.57309870e-03 -1.99337653e-01] [ 2.01199121e-03 5.58484724e-03 9.99982381e-01 -6.62944564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00719347 meters Centerline goodness [0,1] 0.811410393252548 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.20, Z:-0.66 [[ 0.99996712 0.00762364 -0.0027633 2.13994989] [-0.00763536 0.99996178 -0.00425814 -0.19670278] [ 0.00273073 0.0042791 0.99998712 -0.66498491] [ 0. 0. 0. 1. ]] SLAMing on 51.03719347 meters Centerline goodness [0,1] 0.8250104471374844 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:-0.67 [[ 0.99996331 0.00794557 -0.00320076 2.14136836] [-0.00796165 0.9999556 -0.00504178 -0.19248342] [ 0.00316056 0.00506708 0.99998217 -0.66556322] [ 0. 0. 0. 1. ]] SLAMing on 51.06719346999999 meters Centerline goodness [0,1] 0.8461506100126209 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:-0.67 [[ 0.99993019 0.01137079 -0.00321145 2.14119973] [-0.01137841 0.99993246 -0.00236663 -0.18842456] [ 0.00318432 0.002403 0.99999204 -0.66503137] [ 0. 0. 0. 1. ]] SLAMing on 51.09719346999999 meters Centerline goodness [0,1] 0.8773539352969579 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.18, Z:-0.66 [[ 0.99982057 0.01868997 -0.00308358 2.14032412] [-0.01868149 0.99982169 0.00275628 -0.17749894] [ 0.00313454 -0.00269818 0.99999145 -0.6631034 ] [ 0. 0. 0. 1. ]] SLAMing on 51.127193469999995 meters Centerline goodness [0,1] 0.8868521389366071 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:-0.66 [[ 0.99973794 0.02265894 -0.00326049 2.14103545] [-0.02264099 0.99972885 0.00544171 -0.17324611] [ 0.00338291 -0.00536647 0.99997988 -0.66307841] [ 0. 0. 0. 1. ]] SLAMing on 51.157193469999996 meters Centerline goodness [0,1] 0.8967637336028468 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.17, Z:-0.66 [[ 0.99963247 0.02687543 -0.00355505 2.14209759] [-0.02684528 0.99960536 0.00827338 -0.16948058] [ 0.003776 -0.0081749 0.99995946 -0.66323966] [ 0. 0. 0. 1. ]] SLAMing on 51.18719347 meters Centerline goodness [0,1] 0.8974886180055809 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.16, Z:-0.66 [[ 9.99276206e-01 3.78944662e-02 -3.32760481e-03 2.14616975e+00] [-3.78876755e-02 9.99279838e-01 2.08060310e-03 -1.58429758e-01] [ 3.40405174e-03 -1.95302196e-03 9.99992299e-01 -6.62183020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21719347 meters Centerline goodness [0,1] 0.88923070439748 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.15, Z:-0.66 [[ 0.99911478 0.04193479 -0.0033374 2.14635221] [-0.04191776 0.99910846 0.00501937 -0.1549308 ] [ 0.00354491 -0.00487503 0.99998183 -0.66169164] [ 0. 0. 0. 1. ]] SLAMing on 51.24719346999999 meters Centerline goodness [0,1] 0.8895507935839684 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.15, Z:-0.66 [[ 0.99893752 0.04596519 -0.00332094 2.14665654] [-0.04593655 0.9989104 0.00823744 -0.1521096 ] [ 0.00369596 -0.00807614 0.99996056 -0.66145481] [ 0. 0. 0. 1. ]] SLAMing on 51.27719346999999 meters Centerline goodness [0,1] 0.8866885081696959 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.15, Z:-0.66 [[ 0.99848585 0.05492739 0.00299814 2.15536059] [-0.05494739 0.99846431 0.00705716 -0.14667226] [-0.00260591 -0.00721121 0.9999706 -0.66299652] [ 0. 0. 0. 1. ]] SLAMing on 51.307193469999994 meters Centerline goodness [0,1] 0.8857663392875841 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.14, Z:-0.66 [[ 0.9984545 0.05549736 0.00294053 2.15504272] [-0.05551609 0.99843513 0.00672768 -0.14430262] [-0.00256256 -0.00688053 0.99997305 -0.66196739] [ 0. 0. 0. 1. ]] SLAMing on 51.337193469999995 meters Centerline goodness [0,1] 0.8854865507161034 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.14, Z:-0.66 [[ 0.99842418 0.05605412 0.00266336 2.15537214] [-0.05607135 0.99840287 0.00690743 -0.14396209] [-0.00227191 -0.00704589 0.9999726 -0.66152534] [ 0. 0. 0. 1. ]] SLAMing on 51.36719347 meters Centerline goodness [0,1] 0.8900696534163843 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.15, Z:-0.66 [[ 9.98460511e-01 5.54392094e-02 1.76153542e-03 2.15859811e+00] [-5.54485665e-02 9.98444689e-01 5.80166640e-03 -1.48703919e-01] [-1.43715588e-03 -5.89040941e-03 9.99981619e-01 -6.63814891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39719347 meters Centerline goodness [0,1] 0.8917758839830808 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.15, Z:-0.67 [[ 9.98549184e-01 5.38416431e-02 7.77238170e-04 2.16215560e+00] [-5.38443883e-02 9.98540925e-01 4.09902558e-03 -1.51837056e-01] [-5.55405850e-04 -4.13492856e-03 9.99991297e-01 -6.66339233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42719346999999 meters Centerline goodness [0,1] 0.8895174009042162 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.15, Z:-0.67 [[ 9.98652946e-01 5.18870855e-02 1.53290701e-04 2.16453945e+00] [-5.18873001e-02 9.98650350e-01 2.27745729e-03 -1.54929016e-01] [-3.49131909e-05 -2.28234327e-03 9.99997395e-01 -6.68259720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45719346999999 meters Centerline goodness [0,1] 0.8909159695657657 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.16, Z:-0.67 [[ 9.98779209e-01 4.93947869e-02 -4.95996988e-04 2.16658980e+00] [-4.93947139e-02 9.98779324e-01 1.58327442e-04 -1.58098764e-01] [ 5.03212087e-04 -1.33634528e-04 9.99999864e-01 -6.69701180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487193469999994 meters Centerline goodness [0,1] 0.8924244329853688 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.17, Z:-0.67 [[ 9.98902595e-01 4.68200554e-02 -1.21974675e-03 2.16860456e+00] [-4.68202012e-02 9.98903329e-01 -9.12274977e-05 -1.67365025e-01] [ 1.21413781e-03 1.48236172e-04 9.99999252e-01 -6.71437053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.517193469999995 meters Centerline goodness [0,1] 0.8926508579950012 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.17, Z:-0.67 [[ 9.99046508e-01 4.36286080e-02 -1.61873178e-03 2.16882480e+00] [-4.36326577e-02 9.99044370e-01 -2.55705281e-03 -1.70824831e-01] [ 1.50562422e-03 2.62524425e-03 9.99995421e-01 -6.71082097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.547193469999996 meters Centerline goodness [0,1] 0.8927934168818356 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.17, Z:-0.67 [[ 9.99176595e-01 4.05217562e-02 -2.02939610e-03 2.16900760e+00] [-4.05313933e-02 9.99165969e-01 -4.95701245e-03 -1.74747928e-01] [ 1.82683667e-03 5.03518507e-03 9.99985655e-01 -6.70657639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57719347 meters Centerline goodness [0,1] 0.89208270297529 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:-0.67 [[ 9.99351725e-01 3.59419056e-02 -2.07573428e-03 2.16735407e+00] [-3.59583197e-02 9.99317128e-01 -8.50153293e-03 -1.87429457e-01] [ 1.76875553e-03 8.57066152e-03 9.99961707e-01 -6.69144368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60719347 meters Centerline goodness [0,1] 0.8927778010646771 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:-0.67 [[ 9.99450818e-01 3.30494719e-02 -2.40710828e-03 2.16794134e+00] [-3.30727754e-02 9.99398962e-01 -1.03878050e-02 -1.94437255e-01] [ 2.06235004e-03 1.04617100e-02 9.99943148e-01 -6.69543811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63719346999999 meters Centerline goodness [0,1] 0.8950155501386904 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:-0.67 [[ 0.99953765 0.0302955 -0.00258217 2.16833371] [-0.03032468 0.99946653 -0.01212741 -0.20010548] [ 0.00221339 0.01220011 0.99992313 -0.67007548] [ 0. 0. 0. 1. ]] SLAMing on 51.667193469999994 meters Centerline goodness [0,1] 0.8980209888746346 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:-0.67 [[ 0.99960974 0.02776197 -0.00310448 2.17038635] [-0.02780178 0.99952071 -0.01361669 -0.20443947] [ 0.00272497 0.01369769 0.99990247 -0.67169503] [ 0. 0. 0. 1. ]] SLAMing on 51.697193469999995 meters Centerline goodness [0,1] 0.896065766294774 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.22, Z:-0.67 [[ 0.99973787 0.02145554 -0.00799116 2.17866159] [-0.02153516 0.99971794 -0.01001425 -0.21515274] [ 0.00777404 0.01018372 0.99991792 -0.66937083] [ 0. 0. 0. 1. ]] SLAMing on 51.727193469999996 meters Centerline goodness [0,1] 0.8980905026532403 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.22, Z:-0.67 [[ 0.99979451 0.01850266 -0.00828176 2.17884162] [-0.0186012 0.99975516 -0.01198402 -0.22057692] [ 0.00805799 0.01213561 0.99989389 -0.66905586] [ 0. 0. 0. 1. ]] SLAMing on 51.75719347 meters Centerline goodness [0,1] 0.9002822791427078 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:-0.67 [[ 0.99983629 0.01601452 -0.00842206 2.17834779] [-0.01612856 0.99977671 -0.01365273 -0.22579672] [ 0.00820154 0.01378633 0.99987133 -0.66826493] [ 0. 0. 0. 1. ]] SLAMing on 51.78719347 meters Centerline goodness [0,1] 0.8981763236868061 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:-0.67 [[ 0.9998271 0.01651465 -0.00854622 2.17810731] [-0.01661673 0.99978975 -0.01201455 -0.23082055] [ 0.00834601 0.01215448 0.9998913 -0.66763073] [ 0. 0. 0. 1. ]] SLAMing on 51.81719346999999 meters Centerline goodness [0,1] 0.8995706356686564 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:-0.67 [[ 0.9998136 0.01747091 -0.00821782 2.17630276] [-0.01754598 0.99980416 -0.009153 -0.23835358] [ 0.0080563 0.00929548 0.99992434 -0.66571358] [ 0. 0. 0. 1. ]] SLAMing on 51.84719346999999 meters Centerline goodness [0,1] 0.8978022439803337 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.24, Z:-0.67 [[ 0.9998088 0.0176007 -0.00851946 2.17675797] [-0.01766949 0.99981133 -0.00806852 -0.24175588] [ 0.00837584 0.00821751 0.99993116 -0.66562326] [ 0. 0. 0. 1. ]] SLAMing on 51.877193469999995 meters Centerline goodness [0,1] 0.9001535452117031 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:-0.67 [[ 0.99986201 0.01412715 -0.00873943 2.17719851] [-0.0142147 0.99984858 -0.01003814 -0.2477254 ] [ 0.00859629 0.01016098 0.99991143 -0.66585273] [ 0. 0. 0. 1. ]] SLAMing on 51.907193469999996 meters Centerline goodness [0,1] 0.9026169206516027 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.25, Z:-0.67 [[ 0.99986429 0.01373212 -0.00910107 2.17802986] [-0.01381897 0.99985891 -0.00954975 -0.2506991 ] [ 0.00896864 0.00967422 0.99991298 -0.66602713] [ 0. 0. 0. 1. ]] SLAMing on 51.93719347 meters Centerline goodness [0,1] 0.902724789959764 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:-0.67 [[ 0.99994294 0.00933257 -0.00519772 2.18735433] [-0.00935282 0.99994871 -0.00388493 -0.25268442] [ 0.0051612 0.00393332 0.99997895 -0.66751783] [ 0. 0. 0. 1. ]] SLAMing on 51.96719347 meters Centerline goodness [0,1] 0.9064521549189279 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:-0.67 [[ 0.99994528 0.00898554 -0.00535677 2.18765617] [-0.00900647 0.99995185 -0.00389611 -0.25364593] [ 0.00532151 0.00394414 0.99997806 -0.66746658] [ 0. 0. 0. 1. ]] SLAMing on 51.99719346999999 meters Centerline goodness [0,1] 0.9121840909566783 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:-0.67 [[ 0.99994483 0.00875229 -0.00580847 2.18933818] [-0.00877795 0.99995176 -0.00440697 -0.25243053] [ 0.00576962 0.00445772 0.99997342 -0.6685917 ] [ 0. 0. 0. 1. ]] SLAMing on 52.02719346999999 meters Centerline goodness [0,1] 0.9097184339725568 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:-0.67 [[ 0.99994324 0.00880932 -0.00599216 2.19058096] [-0.00883839 0.99994922 -0.00484203 -0.25029694] [ 0.0059492 0.00489472 0.99997032 -0.6697183 ] [ 0. 0. 0. 1. ]] SLAMing on 52.057193469999994 meters Centerline goodness [0,1] 0.9112401232368537 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:-0.67 [[ 0.99993964 0.00897904 -0.00633196 2.19255843] [-0.00901208 0.99994583 -0.00520773 -0.24781646] [ 0.00628486 0.00526448 0.99996639 -0.67138702] [ 0. 0. 0. 1. ]] SLAMing on 52.087193469999995 meters Centerline goodness [0,1] 0.911942403637665 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.24, Z:-0.67 [[ 0.99990897 0.01170345 -0.0067149 2.19512663] [-0.01172628 0.99992556 -0.00337157 -0.24350581] [ 0.00667494 0.00345001 0.99997177 -0.6737459 ] [ 0. 0. 0. 1. ]] SLAMing on 52.11719347 meters Centerline goodness [0,1] 0.9114755470024684 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.24, Z:-0.68 [[ 9.99880579e-01 1.36509283e-02 -7.24425814e-03 2.19779984e+00] [-1.36643054e-02 9.99905018e-01 -1.80030433e-03 -2.40853007e-01] [ 7.21899424e-03 1.89907709e-03 9.99972139e-01 -6.75638992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14719347 meters Centerline goodness [0,1] 0.9117696581916147 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.24, Z:-0.68 [[ 0.99987982 0.01368362 -0.00728741 2.1982657 ] [-0.01370359 0.99990246 -0.0026977 -0.23726442] [ 0.00724979 0.00279723 0.99996981 -0.67603615] [ 0. 0. 0. 1. ]] SLAMing on 52.17719346999999 meters Centerline goodness [0,1] 0.9113663133097762 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99988246 0.01341068 -0.00743107 2.19886876] [-0.01344201 0.99990091 -0.00418236 -0.23319097] [ 0.00737424 0.00428175 0.99996364 -0.67641562] [ 0. 0. 0. 1. ]] SLAMing on 52.20719346999999 meters Centerline goodness [0,1] 0.9142210296830454 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99988602 0.01300941 -0.00766112 2.19941681] [-0.01304481 0.99990439 -0.00458823 -0.23318226] [ 0.0076007 0.00468764 0.99996013 -0.67649893] [ 0. 0. 0. 1. ]] SLAMing on 52.237193469999994 meters Centerline goodness [0,1] 0.9159068946682912 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99989018 0.01263426 -0.00774638 2.19950553] [-0.01267217 0.99990787 -0.00486462 -0.23347184] [ 0.0076842 0.00496225 0.99995816 -0.67636322] [ 0. 0. 0. 1. ]] SLAMing on 52.267193469999995 meters Centerline goodness [0,1] 0.9173956931359354 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99989359 0.01218656 -0.00801905 2.20036078] [-0.01222802 0.99991201 -0.00514198 -0.23230955] [ 0.00795568 0.00523949 0.99995463 -0.67676634] [ 0. 0. 0. 1. ]] SLAMing on 52.297193469999996 meters Centerline goodness [0,1] 0.9187389733680584 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99989193 0.01202004 -0.00846458 2.20142557] [-0.01206557 0.9999129 -0.00534852 -0.23076871] [ 0.00839956 0.00545007 0.99994987 -0.67696525] [ 0. 0. 0. 1. ]] SLAMing on 52.32719347 meters Centerline goodness [0,1] 0.9175750178864526 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.9998903 0.01196292 -0.00873367 2.2017566 ] [-0.01201193 0.99991228 -0.00558155 -0.22934304] [ 0.00866613 0.00568585 0.99994628 -0.67665285] [ 0. 0. 0. 1. ]] SLAMing on 52.35719347 meters Centerline goodness [0,1] 0.9175750178864526 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.9998903 0.01196292 -0.00873367 2.2017566 ] [-0.01201193 0.99991228 -0.00558155 -0.22934304] [ 0.00866613 0.00568585 0.99994628 -0.67665285] [ 0. 0. 0. 1. ]] SLAMing on 52.38719346999999 meters Centerline goodness [0,1] 0.919856962557846 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99988714 0.01187329 -0.00920493 2.20271149] [-0.01192654 0.99991234 -0.00575149 -0.22882888] [ 0.00913583 0.00586062 0.99994109 -0.67666503] [ 0. 0. 0. 1. ]] SLAMing on 52.417193469999994 meters Centerline goodness [0,1] 0.9214359060332362 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99989129 0.01114644 -0.00965223 2.20327096] [-0.01120535 0.99991879 -0.00607121 -0.22993451] [ 0.00958378 0.00617871 0.99993499 -0.67623278] [ 0. 0. 0. 1. ]] SLAMing on 52.447193469999995 meters Centerline goodness [0,1] 0.9226778242677824 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.999896 0.01037719 -0.01001557 2.20418711] [-0.01044255 0.99992438 -0.00649509 -0.23032917] [ 0.00994741 0.006599 0.99992875 -0.6764319 ] [ 0. 0. 0. 1. ]] SLAMing on 52.477193469999996 meters Centerline goodness [0,1] 0.9232686748502241 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99990216 0.00960637 -0.0101676 2.20449217] [-0.00967642 0.99992963 -0.00686278 -0.23062436] [ 0.01010095 0.0069605 0.99992476 -0.67635365] [ 0. 0. 0. 1. ]] SLAMing on 52.50719347 meters Centerline goodness [0,1] 0.9258701787394168 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.23, Z:-0.68 [[ 0.99990755 0.00856721 -0.01055925 2.20525202] [-0.00864589 0.99993503 -0.00742834 -0.23095824] [ 0.01049492 0.00751895 0.99991666 -0.67625606] [ 0. 0. 0. 1. ]] SLAMing on 52.53719347 meters Centerline goodness [0,1] 0.9265290743919287 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.23, Z:-0.68 [[ 0.99993826 0.00355102 -0.01052955 2.20462002] [-0.00368165 0.99991618 -0.0124129 -0.22859639] [ 0.01048459 0.0124509 0.99986752 -0.67534512] [ 0. 0. 0. 1. ]] SLAMing on 52.56719346999999 meters Centerline goodness [0,1] 0.9227513670933813 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.23, Z:-0.68 [[ 9.99936937e-01 2.19878648e-03 -1.10130209e-02 2.20599819e+00] [-2.34919054e-03 9.99903902e-01 -1.36626648e-02 -2.26568152e-01] [ 1.09819213e-02 1.36876748e-02 9.99846011e-01 -6.75809856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59719346999999 meters Centerline goodness [0,1] 0.9158319158319158 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.22, Z:-0.68 [[ 9.99935027e-01 1.56202079e-03 -1.12917039e-02 2.20649991e+00] [-1.72307030e-03 9.99896736e-01 -1.42670103e-02 -2.24836545e-01] [ 1.12682525e-02 1.42855397e-02 9.99834461e-01 -6.75682782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627193469999995 meters Centerline goodness [0,1] 0.8931397032591132 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.22, Z:-0.68 [[ 9.99923779e-01 -1.21334700e-03 -1.22867367e-02 2.20943686e+00] [ 1.00180063e-03 9.99851412e-01 -1.72089989e-02 -2.20057440e-01] [ 1.23057915e-02 1.71953783e-02 9.99776418e-01 -6.76863720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657193469999996 meters Centerline goodness [0,1] 0.8859497876277388 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.22, Z:-0.68 [[ 9.99920788e-01 1.44880454e-03 -1.25027669e-02 2.21026811e+00] [-1.62704047e-03 9.99897035e-01 -1.42573429e-02 -2.19367631e-01] [ 1.24808234e-02 1.42765560e-02 9.99820188e-01 -6.77263137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68719347 meters Centerline goodness [0,1] 0.8868406720013406 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.22, Z:-0.68 [[ 0.99991093 0.00221427 -0.01316191 2.21297059] [-0.00239616 0.99990163 -0.0138201 -0.21693081] [ 0.01313001 0.0138504 0.99981787 -0.67880611] [ 0. 0. 0. 1. ]] SLAMing on 52.71719347 meters Centerline goodness [0,1] 0.8945594607607126 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.22, Z:-0.68 [[ 0.99989644 0.00524154 -0.01340299 2.21359904] [-0.00538755 0.99992628 -0.01088126 -0.21526385] [ 0.01334497 0.01095235 0.99985097 -0.67883614] [ 0. 0. 0. 1. ]] SLAMing on 52.74719346999999 meters Centerline goodness [0,1] 0.9059147122430554 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.21, Z:-0.68 [[ 0.99988411 0.00801967 -0.01294043 2.21057783] [-0.00813958 0.99992418 -0.00924045 -0.20784122] [ 0.01286534 0.00934471 0.99987357 -0.67561639] [ 0. 0. 0. 1. ]] SLAMing on 52.77719346999999 meters Centerline goodness [0,1] 0.9098964785922768 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.20, Z:-0.67 [[ 0.99986755 0.01025667 -0.01263624 2.20940238] [-0.01035012 0.99991941 -0.00735212 -0.20389212] [ 0.01255981 0.00748193 0.99989313 -0.67452819] [ 0. 0. 0. 1. ]] SLAMing on 52.807193469999994 meters Centerline goodness [0,1] 0.9081726932930159 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.20, Z:-0.67 [[ 0.99983488 0.01283616 -0.01286269 2.20958912] [-0.01289987 0.99990487 -0.00488224 -0.20059469] [ 0.01279879 0.00504737 0.99990535 -0.67385752] [ 0. 0. 0. 1. ]] SLAMing on 52.837193469999995 meters Centerline goodness [0,1] 0.9188188795248751 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.20, Z:-0.67 [[ 0.99980225 0.0150052 -0.01304982 2.20942264] [-0.01504791 0.99988171 -0.00318082 -0.19593171] [ 0.01300055 0.00337657 0.99990979 -0.67274676] [ 0. 0. 0. 1. ]] SLAMing on 52.86719347 meters Centerline goodness [0,1] 0.9182223898422277 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.19, Z:-0.67 [[ 0.99980398 0.01470448 -0.0132585 2.2103041 ] [-0.01475741 0.99988349 -0.00390306 -0.19455993] [ 0.01319956 0.00409795 0.99990448 -0.67321054] [ 0. 0. 0. 1. ]] SLAMing on 52.89719347 meters Centerline goodness [0,1] 0.919747010408595 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.19, Z:-0.67 [[ 0.99980208 0.01455224 -0.01356583 2.21190692] [-0.01461438 0.99988311 -0.00449292 -0.19363971] [ 0.01349886 0.00469028 0.99989789 -0.67438122] [ 0. 0. 0. 1. ]] SLAMing on 52.92719346999999 meters Centerline goodness [0,1] 0.9149840148073364 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.19, Z:-0.68 [[ 0.99979845 0.01479362 -0.01357226 2.21268953] [-0.01486291 0.99987695 -0.00501842 -0.19128596] [ 0.01349635 0.00521914 0.9998953 -0.67515056] [ 0. 0. 0. 1. ]] SLAMing on 52.95719346999999 meters Centerline goodness [0,1] 0.9275017877423968 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.19, Z:-0.68 [[ 0.99961817 0.02370911 -0.014191 2.21666479] [-0.02366833 0.99971526 0.00303534 -0.1851353 ] [ 0.01425893 -0.0026983 0.9998947 -0.67813716] [ 0. 0. 0. 1. ]] SLAMing on 52.987193469999994 meters Centerline goodness [0,1] 0.9250627615062762 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.18, Z:-0.68 [[ 0.99952202 0.02717127 -0.01474623 2.21898065] [-0.02708898 0.99961648 0.00575177 -0.1807981 ] [ 0.01489686 -0.00534956 0.99987473 -0.67927202] [ 0. 0. 0. 1. ]] SLAMing on 53.017193469999995 meters Centerline goodness [0,1] 0.9217137211208981 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.18, Z:-0.68 [[ 0.99942644 0.0301961 -0.0153296 2.22157227] [-0.03007216 0.99951367 0.00825198 -0.17790036] [ 0.01557132 -0.00778625 0.99984844 -0.68070983] [ 0. 0. 0. 1. ]] SLAMing on 53.047193469999996 meters Centerline goodness [0,1] 0.9248454934717036 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.18, Z:-0.68 [[ 0.99939989 0.03107722 -0.01529937 2.2209328 ] [-0.03096399 0.99949173 0.0075831 -0.17657271] [ 0.01552726 -0.00710482 0.9998542 -0.67955096] [ 0. 0. 0. 1. ]] SLAMing on 53.07719347 meters Centerline goodness [0,1] 0.9259368111682587 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.17, Z:-0.68 [[ 9.99474889e-01 3.11532292e-02 -8.91195774e-03 2.23070706e+00] [-3.11667727e-02 9.99513239e-01 -1.38484289e-03 -1.74557385e-01] [ 8.86447742e-03 1.66187265e-03 9.99959329e-01 -6.82248286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10719347 meters Centerline goodness [0,1] 0.9262368878373568 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.17, Z:-0.68 [[ 0.99949161 0.03054503 -0.00913954 2.2314587 ] [-0.03056781 0.9995299 -0.00236316 -0.17212784] [ 0.00906306 0.00264134 0.99995544 -0.6824269 ] [ 0. 0. 0. 1. ]] SLAMing on 53.13719346999999 meters Centerline goodness [0,1] 0.9267329628546359 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.17, Z:-0.68 [[ 0.99950652 0.02994179 -0.00949773 2.232302 ] [-0.02997582 0.99954463 -0.00346112 -0.16818363] [ 0.00938977 0.00374412 0.99994891 -0.68234186] [ 0. 0. 0. 1. ]] SLAMing on 53.167193469999994 meters Centerline goodness [0,1] 0.9280837027543752 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.16, Z:-0.68 [[ 0.9995311 0.02900416 -0.00981517 2.23257917] [-0.02905523 0.9995648 -0.00510042 -0.16270531] [ 0.00966296 0.00538321 0.99993882 -0.68176992] [ 0. 0. 0. 1. ]] SLAMing on 53.197193469999995 meters Centerline goodness [0,1] 0.9255691399662732 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.16, Z:-0.68 [[ 0.99954639 0.02838453 -0.01006605 2.23317137] [-0.02844469 0.99957805 -0.00588456 -0.16152397] [ 0.00989477 0.00616822 0.99993202 -0.68179538] [ 0. 0. 0. 1. ]] SLAMing on 53.227193469999996 meters Centerline goodness [0,1] 0.925153167568478 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.16, Z:-0.68 [[ 0.99958164 0.0268115 -0.01084821 2.23569877] [-0.02689298 0.99961066 -0.0074355 -0.16035883] [ 0.01064463 0.00772413 0.99991351 -0.68305045] [ 0. 0. 0. 1. ]] SLAMing on 53.25719347 meters Centerline goodness [0,1] 0.9251605638501961 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 0.99974495 0.02105523 -0.00816831 2.24738087] [-0.02108777 0.99976995 -0.00391773 -0.15963751] [ 0.00808394 0.00408899 0.99995896 -0.68579865] [ 0. 0. 0. 1. ]] SLAMing on 53.28719347 meters Centerline goodness [0,1] 0.9247039094434546 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.68 [[ 0.99983706 0.01604306 -0.0082747 2.24669433] [-0.01611243 0.99983502 -0.00838557 -0.16068743] [ 0.0081388 0.00851753 0.9999306 -0.6847544 ] [ 0. 0. 0. 1. ]] SLAMing on 53.31719346999999 meters Centerline goodness [0,1] 0.9267781110388658 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.68 [[ 0.99989069 0.01198491 -0.00865858 2.24747168] [-0.01209132 0.99985071 -0.01234326 -0.16044816] [ 0.00850935 0.01244661 0.99988633 -0.68473832] [ 0. 0. 0. 1. ]] SLAMing on 53.34719346999999 meters Centerline goodness [0,1] 0.9256518082422204 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 0.9999014 0.01023827 -0.00961091 2.2497643 ] [-0.01036556 0.99985797 -0.01328865 -0.16083668] [ 0.00947349 0.01338696 0.99986551 -0.68531991] [ 0. 0. 0. 1. ]] SLAMing on 53.377193469999995 meters Centerline goodness [0,1] 0.9185572640954541 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 0.99997342 0.00268184 -0.00678052 2.25080898] [-0.00269979 0.99999287 -0.0026389 -0.16139415] [ 0.00677339 0.00265714 0.99997353 -0.68683095] [ 0. 0. 0. 1. ]] SLAMing on 53.407193469999996 meters Centerline goodness [0,1] 0.9178527260150502 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 0.99997301 0.00227731 -0.00698522 2.25154611] [-0.00229516 0.99999412 -0.00254836 -0.1626957 ] [ 0.00697937 0.00256433 0.99997236 -0.68702901] [ 0. 0. 0. 1. ]] SLAMing on 53.43719347 meters Centerline goodness [0,1] 0.919295887073058 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 9.99973658e-01 2.04457682e-03 -6.96443219e-03 2.25117874e+00] [-2.06154965e-03 9.99994921e-01 -2.43076621e-03 -1.64168634e-01] [ 6.95942693e-03 2.44505970e-03 9.99972794e-01 -6.86398479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46719347 meters Centerline goodness [0,1] 0.9265704138032491 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 9.99973509e-01 2.09914870e-03 -6.96960895e-03 2.25073913e+00] [-2.11559798e-03 9.99994992e-01 -2.35361134e-03 -1.64569242e-01] [ 6.96463347e-03 2.36829388e-03 9.99972942e-01 -6.85546612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49719346999999 meters Centerline goodness [0,1] 0.9253503451160845 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 9.99965324e-01 3.33348392e-03 -7.63138249e-03 2.25278446e+00] [-3.34546513e-03 9.99993191e-01 -1.55776533e-03 -1.62154720e-01] [ 7.62613773e-03 1.58324184e-03 9.99969667e-01 -6.86198555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52719346999999 meters Centerline goodness [0,1] 0.9240697284612805 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.16, Z:-0.69 [[ 9.99962399e-01 3.37704526e-03 -7.98722172e-03 2.25415031e+00] [-3.39359346e-03 9.99992122e-01 -2.05918973e-03 -1.59412757e-01] [ 7.98020482e-03 2.08621768e-03 9.99965981e-01 -6.86859459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.557193469999994 meters Centerline goodness [0,1] 0.9201594294105307 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.16, Z:-0.69 [[ 0.99995939 0.00333785 -0.00837119 2.25566629] [-0.00336049 0.99999073 -0.00269225 -0.15668725] [ 0.00836212 0.00272028 0.99996134 -0.68768912] [ 0. 0. 0. 1. ]] SLAMing on 53.587193469999995 meters Centerline goodness [0,1] 0.9180845687331536 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.15, Z:-0.69 [[ 0.99995657 0.00345171 -0.00865659 2.25692301] [-0.00347861 0.99998916 -0.00309395 -0.15493003] [ 0.00864582 0.00312393 0.99995774 -0.68842816] [ 0. 0. 0. 1. ]] SLAMing on 53.61719347 meters Centerline goodness [0,1] 0.9113496739563458 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.15, Z:-0.69 [[ 9.99936950e-01 6.23446209e-03 -9.33959271e-03 2.26013164e+00] [-6.24698772e-03 9.99979626e-01 -1.31256086e-03 -1.52459173e-01] [ 9.33121931e-03 1.37082242e-03 9.99955524e-01 -6.90685880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64719347 meters Centerline goodness [0,1] 0.9168601367886051 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.15, Z:-0.69 [[ 9.99909823e-01 9.11749164e-03 -9.85987489e-03 2.26233804e+00] [-9.10681238e-03 9.99957897e-01 1.12745967e-03 -1.50019329e-01] [ 9.86973936e-03 -1.03756597e-03 9.99950755e-01 -6.91886216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67719346999999 meters Centerline goodness [0,1] 0.9160942306881874 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.15, Z:-0.69 [[ 0.99986419 0.01294492 -0.01019941 2.26324278] [-0.0129012 0.99990735 0.00434091 -0.14735879] [ 0.01025466 -0.00420873 0.99993856 -0.69190822] [ 0. 0. 0. 1. ]] SLAMing on 53.70719346999999 meters Centerline goodness [0,1] 0.9151048334627574 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:-0.69 [[ 0.99980374 0.01669435 -0.01066713 2.26447658] [-0.01661432 0.99983349 0.00754755 -0.14484209] [ 0.01079136 -0.00736884 0.99991462 -0.69190311] [ 0. 0. 0. 1. ]] SLAMing on 53.737193469999994 meters Centerline goodness [0,1] 0.9149797570850202 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:-0.69 [[ 0.99965723 0.0239533 -0.0105671 2.26271348] [-0.02380342 0.99961738 0.01408873 -0.14234449] [ 0.01090053 -0.01383236 0.99984491 -0.68937458] [ 0. 0. 0. 1. ]] SLAMing on 53.767193469999995 meters Centerline goodness [0,1] 0.9174696007068625 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:-0.69 [[ 0.99965026 0.0242576 -0.01053253 2.26153045] [-0.02411199 0.99961485 0.01373887 -0.14066388] [ 0.01086174 -0.0134801 0.99985014 -0.68757469] [ 0. 0. 0. 1. ]] SLAMing on 53.797193469999996 meters Centerline goodness [0,1] 0.9197645925398454 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.14, Z:-0.69 [[ 0.99969623 0.02442647 -0.00328701 2.26761219] [-0.02441154 0.99969183 0.00450876 -0.13765889] [ 0.00339613 -0.00442715 0.99998443 -0.687564 ] [ 0. 0. 0. 1. ]] SLAMing on 53.82719347 meters Centerline goodness [0,1] 0.9243895263312739 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:-0.68 [[ 9.99698251e-01 2.44657232e-02 -2.19899650e-03 2.26224704e+00] [-2.44552242e-02 9.99689968e-01 4.68084899e-03 -1.39457781e-01] [ 2.31283510e-03 -4.62565959e-03 9.99986627e-01 -6.82433210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85719347 meters Centerline goodness [0,1] 0.9264046591528051 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:-0.68 [[ 9.99772307e-01 2.11791924e-02 -2.60298216e-03 2.26270850e+00] [-2.11758881e-02 9.99774933e-01 1.29048542e-03 -1.40764967e-01] [ 2.62972776e-03 -1.23507113e-03 9.99995780e-01 -6.81994222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88719346999999 meters Centerline goodness [0,1] 0.9284409832280275 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:-0.68 [[ 0.99983962 0.01768948 -0.00279672 2.26307432] [-0.01769585 0.99984084 -0.00226846 -0.14187437] [ 0.00275615 0.00231758 0.99999352 -0.68199365] [ 0. 0. 0. 1. ]] SLAMing on 53.917193469999994 meters Centerline goodness [0,1] 0.9243987692822906 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.15, Z:-0.68 [[ 9.99843283e-01 1.73263732e-02 -3.63410825e-03 2.26626453e+00] [-1.73320512e-02 9.99848608e-01 -1.53678648e-03 -1.45555533e-01] [ 3.60693114e-03 1.59953219e-03 9.99992216e-01 -6.84160936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.947193469999995 meters Centerline goodness [0,1] 0.9217989595569727 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.15, Z:-0.68 [[ 0.99988961 0.01426227 -0.00416525 2.26772763] [-0.01428055 0.99988837 -0.00439399 -0.14682861] [ 0.00410212 0.00445298 0.99998167 -0.68473991] [ 0. 0. 0. 1. ]] SLAMing on 53.977193469999996 meters Centerline goodness [0,1] 0.920731835694886 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.15, Z:-0.68 [[ 0.99992634 0.01130004 -0.00442992 2.26837127] [-0.01132979 0.99991305 -0.00674788 -0.15047669] [ 0.00435329 0.00679758 0.99996742 -0.68487106] [ 0. 0. 0. 1. ]] SLAMing on 54.00719347 meters Centerline goodness [0,1] 0.918512292498424 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.16, Z:-0.68 [[ 0.99995139 0.0085555 -0.00490177 2.26945342] [-0.00859743 0.99992608 -0.00859793 -0.15602425] [ 0.00482785 0.00863965 0.99995102 -0.68499757] [ 0. 0. 0. 1. ]] SLAMing on 54.03719347 meters Centerline goodness [0,1] 0.9192018799043263 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.17, Z:-0.69 [[ 0.99998096 0.00336486 -0.00517203 2.27000489] [-0.00342686 0.99992182 -0.0120251 -0.16652453] [ 0.00513116 0.01204259 0.99991432 -0.68500216] [ 0. 0. 0. 1. ]] SLAMing on 54.06719346999999 meters Centerline goodness [0,1] 0.9186749517171887 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.17, Z:-0.69 [[ 0.99997715 0.00373398 -0.00563615 2.27159824] [-0.00379258 0.99993849 -0.01042282 -0.17086282] [ 0.00559688 0.01044396 0.9999298 -0.68587419] [ 0. 0. 0. 1. ]] SLAMing on 54.09719346999999 meters Centerline goodness [0,1] 0.9172525575716751 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.17, Z:-0.69 [[ 0.99997316 0.0040632 -0.00609728 2.27292797] [-0.00411907 0.99994938 -0.00917968 -0.17382074] [ 0.00605968 0.00920454 0.99993928 -0.68642135] [ 0. 0. 0. 1. ]] SLAMing on 54.127193469999995 meters Centerline goodness [0,1] 0.9139088174033788 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.18, Z:-0.69 [[ 0.99996681 0.00507411 -0.00637464 2.27361619] [-0.00511851 0.99996262 -0.0069682 -0.18004846] [ 0.00633905 0.0070006 0.9999554 -0.6864601 ] [ 0. 0. 0. 1. ]] SLAMing on 54.157193469999996 meters Centerline goodness [0,1] 0.9138678790672338 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.18, Z:-0.69 [[ 0.9999602 0.00578301 -0.00679401 2.27502196] [-0.0058228 0.99996593 -0.00585127 -0.18347369] [ 0.00675994 0.0058906 0.9999598 -0.68713562] [ 0. 0. 0. 1. ]] SLAMing on 54.18719347 meters Centerline goodness [0,1] 0.9123708098362717 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.19, Z:-0.69 [[ 0.99995636 0.00625154 -0.00694285 2.27575265] [-0.00628684 0.99996736 -0.00507418 -0.18619829] [ 0.0069109 0.0051176 0.99996302 -0.68752937] [ 0. 0. 0. 1. ]] SLAMing on 54.21719347 meters Centerline goodness [0,1] 0.9127112078892821 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.19, Z:-0.69 [[ 0.99995298 0.00651707 -0.00718154 2.27669309] [-0.00654972 0.99996828 -0.00453303 -0.1882033 ] [ 0.00715177 0.00457985 0.99996394 -0.6880388 ] [ 0. 0. 0. 1. ]] SLAMing on 54.24719346999999 meters Centerline goodness [0,1] 0.9103206728046811 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.19, Z:-0.69 [[ 0.99995226 0.0064187 -0.00736761 2.27689045] [-0.00644521 0.99997282 -0.00357908 -0.19181417] [ 0.00734444 0.0036264 0.99996645 -0.68767324] [ 0. 0. 0. 1. ]] SLAMing on 54.27719346999999 meters Centerline goodness [0,1] 0.9103206728046811 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.19, Z:-0.69 [[ 0.99995226 0.0064187 -0.00736761 2.27689045] [-0.00644521 0.99997282 -0.00357908 -0.19181417] [ 0.00734444 0.0036264 0.99996645 -0.68767324] [ 0. 0. 0. 1. ]] SLAMing on 54.307193469999994 meters Centerline goodness [0,1] 0.9135927023561805 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.19, Z:-0.69 [[ 0.99995364 0.00583791 -0.00765782 2.27733099] [-0.00586284 0.99997758 -0.00323666 -0.19417801] [ 0.00763876 0.00328141 0.99996544 -0.68733883] [ 0. 0. 0. 1. ]] SLAMing on 54.337193469999995 meters Centerline goodness [0,1] 0.9086621467974902 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.20, Z:-0.69 [[ 0.99995661 0.00500528 -0.00785635 2.27758304] [-0.00502882 0.99998292 -0.00297998 -0.19700163] [ 0.0078413 0.00301935 0.9999647 -0.6869334 ] [ 0. 0. 0. 1. ]] SLAMing on 54.36719347 meters Centerline goodness [0,1] 0.9117888661878383 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.20, Z:-0.69 [[ 9.99967067e-01 7.56082709e-04 -8.08047531e-03 2.27752543e+00] [-8.00095693e-04 9.99984856e-01 -5.44498718e-03 -2.03469963e-01] [ 8.07623607e-03 5.45127301e-03 9.99952528e-01 -6.86012059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39719347 meters Centerline goodness [0,1] 0.9081045779172899 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.21, Z:-0.69 [[ 9.99961289e-01 -2.32864164e-03 -8.48510901e-03 2.27929903e+00] [ 2.26230836e-03 9.99966873e-01 -7.81884019e-03 -2.07342620e-01] [ 8.50303520e-03 7.79934159e-03 9.99933432e-01 -6.87173932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42719346999999 meters Centerline goodness [0,1] 0.905510820332159 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.21, Z:-0.69 [[ 0.99994595 -0.00528439 -0.00895437 2.28180417] [ 0.00519512 0.99993686 -0.00996457 -0.21144115] [ 0.00900646 0.00991751 0.99991026 -0.68903648] [ 0. 0. 0. 1. ]] SLAMing on 54.45719346999999 meters Centerline goodness [0,1] 0.9092515089696944 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.22, Z:-0.69 [[ 0.99992327 -0.00822818 -0.00926013 2.2834209 ] [ 0.00812161 0.99990103 -0.0114876 -0.21762506] [ 0.00935374 0.01141151 0.99989114 -0.69022842] [ 0. 0. 0. 1. ]] SLAMing on 54.487193469999994 meters Centerline goodness [0,1] 0.9077051751176163 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:-0.69 [[ 9.99955272e-01 -8.67428683e-03 -3.76961405e-03 2.29244009e+00] [ 8.66864960e-03 9.99961288e-01 -1.50921491e-03 -2.21298398e-01] [ 3.78255949e-03 1.47646994e-03 9.99991756e-01 -6.92174248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517193469999995 meters Centerline goodness [0,1] 0.9113668398796626 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.22, Z:-0.69 [[ 9.99960687e-01 -7.98534223e-03 -3.85468047e-03 2.29193412e+00] [ 7.98331417e-03 9.99967986e-01 -5.41230672e-04 -2.22714632e-01] [ 3.85887898e-03 5.10436269e-04 9.99992424e-01 -6.91078679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547193469999996 meters Centerline goodness [0,1] 0.9123285958404534 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.22, Z:-0.69 [[ 0.99999114 -0.00330575 0.0026063 2.3012596 ] [ 0.00331632 0.99998625 -0.0040632 -0.22446683] [-0.00259284 0.00407181 0.99998835 -0.69320807] [ 0. 0. 0. 1. ]] SLAMing on 54.57719347 meters Centerline goodness [0,1] 0.9152041304936189 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99996278e-01 8.04844701e-04 2.60681931e-03 2.29940515e+00] [-8.04457948e-04 9.99999665e-01 -1.49406961e-04 -2.27036959e-01] [-2.60693869e-03 1.47309328e-04 9.99996591e-01 -6.90662593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60719347 meters Centerline goodness [0,1] 0.9071687517026047 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99995422e-01 1.68178444e-03 2.51530182e-03 2.29992740e+00] [-1.68273830e-03 9.99998513e-01 3.77154719e-04 -2.27414913e-01] [-2.51466379e-03 -3.81385587e-04 9.99996766e-01 -6.91055844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63719346999999 meters Centerline goodness [0,1] 0.9142362053487547 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99995574e-01 2.13072770e-03 2.07657060e-03 2.30137661e+00] [-2.13181253e-03 9.99997592e-01 5.20340553e-04 -2.27548903e-01] [-2.07545689e-03 -5.24765109e-04 9.99997709e-01 -6.91812842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667193469999994 meters Centerline goodness [0,1] 0.912467679889008 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99994246e-01 2.75732383e-03 1.97619508e-03 2.30163149e+00] [-2.75948832e-03 9.99995595e-01 1.09339468e-03 -2.28350374e-01] [-1.97317153e-03 -1.09884168e-03 9.99997450e-01 -6.91855433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697193469999995 meters Centerline goodness [0,1] 0.9110756235422663 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99995622e-01 2.36919244e-03 1.77296312e-03 2.30235452e+00] [-2.37097466e-03 9.99996685e-01 1.00379180e-03 -2.28953402e-01] [-1.77057907e-03 -1.00799105e-03 9.99997924e-01 -6.92160689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727193469999996 meters Centerline goodness [0,1] 0.9147027231945409 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99997013e-01 1.83059343e-03 1.61968486e-03 2.30250877e+00] [-1.83216470e-03 9.99997852e-01 9.69155744e-04 -2.29936447e-01] [-1.61790725e-03 -9.72120378e-04 9.99998219e-01 -6.91813885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75719347 meters Centerline goodness [0,1] 0.9110542111780385 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99999354e-01 5.41726179e-04 9.99088924e-04 2.30435761e+00] [-5.42071508e-04 9.99999793e-01 3.45405342e-04 -2.30799630e-01] [-9.98901602e-04 -3.45946697e-04 9.99999441e-01 -6.92591608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78719347 meters Centerline goodness [0,1] 0.9117585411863341 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.23, Z:-0.69 [[ 9.99990133e-01 -4.35928389e-03 8.54740772e-04 2.30448442e+00] [ 4.36204068e-03 9.99985204e-01 -3.25039755e-03 -2.33858419e-01] [-8.40558719e-04 3.25409390e-03 9.99994352e-01 -6.91882608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81719346999999 meters Centerline goodness [0,1] 0.9143290691057767 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.24, Z:-0.69 [[ 9.99986520e-01 -5.11980766e-03 8.63960570e-04 2.30404291e+00] [ 5.12240820e-03 9.99982274e-01 -3.03513672e-03 -2.36796503e-01] [-8.48405940e-04 3.03952137e-03 9.99995021e-01 -6.90983954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84719346999999 meters Centerline goodness [0,1] 0.9178560902698834 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.24, Z:-0.69 [[ 9.99983944e-01 -5.60063361e-03 8.62667011e-04 2.30364839e+00] [ 5.60296030e-03 9.99980608e-01 -2.71870526e-03 -2.39066386e-01] [-8.47423810e-04 2.72349510e-03 9.99995932e-01 -6.90023374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877193469999995 meters Centerline goodness [0,1] 0.9237770431434909 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.24, Z:-0.69 [[ 9.99969660e-01 -7.57937194e-03 1.79795517e-03 2.30023212e+00] [ 7.58693891e-03 9.99962230e-01 -4.23984305e-03 -2.38722794e-01] [-1.76575191e-03 4.25335539e-03 9.99989395e-01 -6.87022148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.907193469999996 meters Centerline goodness [0,1] 0.9261062131784565 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.24, Z:-0.69 [[ 9.99988292e-01 -4.54634866e-03 1.65735584e-03 2.30051057e+00] [ 4.54697924e-03 9.99989591e-01 -3.76906592e-04 -2.39508356e-01] [-1.65562504e-03 3.84438142e-04 9.99998556e-01 -6.86760494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93719347 meters Centerline goodness [0,1] 0.9241098592140324 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.24, Z:-0.69 [[ 9.99988474e-01 -4.52277910e-03 1.61148185e-03 2.30065560e+00] [ 4.52329370e-03 9.99989720e-01 -3.15836356e-04 -2.38619579e-01] [-1.61003683e-03 3.23121921e-04 9.99998652e-01 -6.86755017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96719347 meters Centerline goodness [0,1] 0.9224443558706916 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.24, Z:-0.69 [[ 9.99993101e-01 -3.56222464e-03 1.05298374e-03 2.30325090e+00] [ 3.56132760e-03 9.99993295e-01 8.52547321e-04 -2.38903226e-01] [-1.05601365e-03 -8.48791419e-04 9.99999082e-01 -6.88742268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99719346999999 meters Centerline goodness [0,1] 0.9225476581239742 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.24, Z:-0.69 [[ 9.99992926e-01 -3.67367868e-03 8.07476388e-04 2.30455311e+00] [ 3.67302718e-03 9.99992929e-01 8.06851654e-04 -2.38999341e-01] [-8.10434792e-04 -8.03880064e-04 9.99999348e-01 -6.89899655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02719346999999 meters Centerline goodness [0,1] 0.9217011128775835 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.24, Z:-0.69 [[ 9.99993398e-01 -3.63088768e-03 1.41638086e-04 2.30809803e+00] [ 3.63076174e-03 9.99993022e-01 8.79559505e-04 -2.38875614e-01] [-1.44830679e-04 -8.79039444e-04 9.99999603e-01 -6.92704745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057193469999994 meters Centerline goodness [0,1] 0.9205555671763549 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.24, Z:-0.69 [[ 9.99993577e-01 -3.58362824e-03 -5.31424194e-05 2.30870957e+00] [ 3.58366841e-03 9.99993277e-01 7.76092572e-04 -2.38282072e-01] [ 5.03608349e-05 -7.76278032e-04 9.99999697e-01 -6.93014196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087193469999995 meters Centerline goodness [0,1] 0.9214243672748675 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.24, Z:-0.69 [[ 9.99994716e-01 -3.25003155e-03 -6.84901021e-05 2.30879052e+00] [ 3.25007718e-03 9.99994489e-01 6.76992733e-04 -2.36915325e-01] [ 6.62894769e-05 -6.77211754e-04 9.99999768e-01 -6.93007007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11719347 meters Centerline goodness [0,1] 0.921333417513732 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.23, Z:-0.69 [[ 9.99999575e-01 9.18517742e-04 -8.55829255e-05 2.30917643e+00] [-9.18210302e-04 9.99993363e-01 3.52565170e-03 -2.31874315e-01] [ 8.88207312e-05 -3.52557161e-03 9.99993781e-01 -6.93371686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14719347 meters Centerline goodness [0,1] 0.9174158127449131 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.23, Z:-0.69 [[ 9.99998426e-01 1.69468754e-03 -5.25013889e-04 2.31027797e+00] [-1.69302605e-03 9.99993608e-01 3.14911456e-03 -2.28135488e-01] [ 5.30347299e-04 -3.14822074e-03 9.99994904e-01 -6.93664939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17719346999999 meters Centerline goodness [0,1] 0.9186095007715728 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.23, Z:-0.69 [[ 9.99984633e-01 5.46455726e-03 -9.33648472e-04 2.31166988e+00] [-5.45838798e-03 9.99964060e-01 6.48720245e-03 -2.26609313e-01] [ 9.69064606e-04 -6.48200655e-03 9.99978522e-01 -6.94386598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20719346999999 meters Centerline goodness [0,1] 0.9166192912639758 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.22, Z:-0.69 [[ 9.99979950e-01 6.24463969e-03 -1.05100836e-03 2.31226342e+00] [-6.23805252e-03 9.99961581e-01 6.15821609e-03 -2.24206383e-01] [ 1.08942383e-03 -6.15153637e-03 9.99980486e-01 -6.94847467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237193469999994 meters Centerline goodness [0,1] 0.917339176973809 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.22, Z:-0.70 [[ 9.99899783e-01 1.40872295e-02 -1.40465566e-03 2.31527715e+00] [-1.40683911e-02 9.99821349e-01 1.26234319e-02 -2.21868658e-01] [ 1.58223390e-03 -1.26024056e-02 9.99919335e-01 -6.98005225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267193469999995 meters Centerline goodness [0,1] 0.9179910329004146 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.22, Z:-0.70 [[ 9.99832688e-01 1.82200158e-02 -1.62074293e-03 2.31673447e+00] [-1.81914351e-02 9.99703594e-01 1.61801311e-02 -2.20276492e-01] [ 1.91506478e-03 -1.61479403e-02 9.99867780e-01 -6.99232940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297193469999996 meters Centerline goodness [0,1] 0.9193683329847312 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.22, Z:-0.70 [[ 9.99746931e-01 2.24228989e-02 -1.81315029e-03 2.31786899e+00] [-2.23823010e-02 9.99550336e-01 1.99539096e-02 -2.19447521e-01] [ 2.25975948e-03 -1.99082774e-02 9.99799257e-01 -7.00030975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32719347 meters Centerline goodness [0,1] 0.9237318421661166 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.22, Z:-0.70 [[ 9.99610204e-01 2.78901899e-02 -1.25604253e-03 2.31650473e+00] [-2.78504599e-02 9.99303953e-01 2.48185571e-02 -2.20203117e-01] [ 1.94736254e-03 -2.47739016e-02 9.99691183e-01 -6.99074188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35719347 meters Centerline goodness [0,1] 0.9195804195804196 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.22, Z:-0.70 [[ 9.99597790e-01 2.83310805e-02 -1.26837982e-03 2.31592707e+00] [-2.82900984e-02 9.99281327e-01 2.52289515e-02 -2.21086270e-01] [ 1.98223173e-03 -2.51829215e-02 9.99680895e-01 -6.98009522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38719346999999 meters Centerline goodness [0,1] 0.9225735186844792 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.22, Z:-0.70 [[ 9.99672185e-01 2.55728848e-02 -1.24489436e-03 2.31526858e+00] [-2.55393772e-02 9.99432205e-01 2.19774424e-02 -2.21425660e-01] [ 1.80621412e-03 -2.19384440e-02 9.99757692e-01 -6.97154179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417193469999994 meters Centerline goodness [0,1] 0.9205252100840337 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.22, Z:-0.70 [[ 9.99746639e-01 2.24684589e-02 -1.35143293e-03 2.31491754e+00] [-2.24392948e-02 9.99573405e-01 1.86945244e-02 -2.22578234e-01] [ 1.77089357e-03 -1.86594627e-02 9.99824329e-01 -6.96518476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447193469999995 meters Centerline goodness [0,1] 0.9195895365463874 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.23, Z:-0.70 [[ 9.99799627e-01 1.99657282e-02 -1.44071447e-03 2.31514161e+00] [-1.99382470e-02 9.99655436e-01 1.70726658e-02 -2.28938418e-01] [ 1.78108625e-03 -1.70405196e-02 9.99853213e-01 -6.96598387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477193469999996 meters Centerline goodness [0,1] 0.922720214864241 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.23, Z:-0.70 [[ 9.99858277e-01 1.67468790e-02 -1.72271775e-03 2.31587469e+00] [-1.67208578e-02 9.99760094e-01 1.41480858e-02 -2.31757697e-01] [ 1.95924074e-03 -1.41172754e-02 9.99898427e-01 -6.96960427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50719347 meters Centerline goodness [0,1] 0.926196081728748 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.24, Z:-0.70 [[ 9.99907043e-01 1.35134114e-02 -1.81443908e-03 2.31607849e+00] [-1.34919945e-02 9.99844694e-01 1.13381519e-02 -2.35010243e-01] [ 1.96737440e-03 -1.13126175e-02 9.99934075e-01 -6.96989133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53719347 meters Centerline goodness [0,1] 0.928921363369902 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.24, Z:-0.70 [[ 9.99958558e-01 8.90563835e-03 -1.89008809e-03 2.31606875e+00] [-8.89094244e-03 9.99931241e-01 7.64621992e-03 -2.43923093e-01] [ 1.95805260e-03 -7.62909838e-03 9.99968981e-01 -6.96697926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56719346999999 meters Centerline goodness [0,1] 0.9246412739763441 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.25, Z:-0.70 [[ 9.99979570e-01 6.05244194e-03 -2.05630561e-03 2.31611972e+00] [-6.04162523e-03 9.99968091e-01 5.22637249e-03 -2.47935270e-01] [ 2.08787231e-03 -5.21384229e-03 9.99984228e-01 -6.96323056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59719346999999 meters Centerline goodness [0,1] 0.9221824124709284 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.25, Z:-0.70 [[ 9.99992684e-01 3.10676018e-03 -2.23144514e-03 2.31688070e+00] [-3.10081392e-03 9.99991646e-01 2.66329161e-03 -2.51658735e-01] [ 2.23970071e-03 -2.65635283e-03 9.99993964e-01 -6.96776695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627193469999995 meters Centerline goodness [0,1] 0.9178494081036187 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.26, Z:-0.70 [[ 9.99996639e-01 1.71449668e-03 -1.94480129e-03 2.31651929e+00] [-1.70912687e-03 9.99994732e-01 2.75941756e-03 -2.60889712e-01] [ 1.94952206e-03 -2.75608437e-03 9.99994302e-01 -6.96799278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657193469999996 meters Centerline goodness [0,1] 0.9172213152496965 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.26, Z:-0.70 [[ 9.99996486e-01 4.58961762e-04 -2.61106024e-03 2.31932111e+00] [-4.53762207e-04 9.99997914e-01 1.99160203e-03 -2.64509844e-01] [ 2.61196886e-03 -1.99041023e-03 9.99994608e-01 -6.98642068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68719347 meters Centerline goodness [0,1] 0.9144242575596762 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.27, Z:-0.70 [[ 9.99994694e-01 -2.13528500e-04 -3.25059639e-03 2.32258819e+00] [ 2.20012528e-04 9.99997987e-01 1.99449264e-03 -2.69233896e-01] [ 3.25016397e-03 -1.99519723e-03 9.99992728e-01 -7.01060141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71719347 meters Centerline goodness [0,1] 0.9191063174114021 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.27, Z:-0.70 [[ 9.99991415e-01 -1.65004303e-03 -3.80094453e-03 2.32504396e+00] [ 1.65491979e-03 9.99997811e-01 1.28025276e-03 -2.74565079e-01] [ 3.79882374e-03 -1.28653203e-03 9.99991957e-01 -7.02739586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74719346999999 meters Centerline goodness [0,1] 0.9051207648790264 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.29, Z:-0.71 [[ 9.99973251e-01 -5.78034971e-03 -4.48157068e-03 2.32823959e+00] [ 5.77519344e-03 9.99982648e-01 -1.16263843e-03 -2.85887192e-01] [ 4.48821337e-03 1.13672539e-03 9.99989282e-01 -7.05102834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77719346999999 meters Centerline goodness [0,1] 0.9255292391532174 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.29, Z:-0.71 [[ 0.9999521 -0.00849401 -0.00486222 2.32967198] [ 0.00848099 0.99996041 -0.00269133 -0.29207665] [ 0.00488489 0.00264997 0.99998456 -0.70573228] [ 0. 0. 0. 1. ]] SLAMing on 55.807193469999994 meters Centerline goodness [0,1] 0.9306017602223439 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.30, Z:-0.71 [[ 0.99992092 -0.01144339 -0.00521566 2.33040934] [ 0.01142113 0.99992563 -0.00427687 -0.29858393] [ 0.00526422 0.00421696 0.99997725 -0.70555593] [ 0. 0. 0. 1. ]] SLAMing on 55.837193469999995 meters Centerline goodness [0,1] 0.9302833158447009 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.31, Z:-0.70 [[ 9.99838817e-01 -1.68109597e-02 -6.30330647e-03 2.33289597e+00] [ 1.68135505e-02 9.99858578e-01 3.58253813e-04 -3.13842859e-01] [ 6.29639245e-03 -4.64177030e-04 9.99980070e-01 -7.01478023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86719347 meters Centerline goodness [0,1] 0.9290309018288837 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.32, Z:-0.70 [[ 9.99771401e-01 -2.03731615e-02 -6.48684560e-03 2.33331950e+00] [ 2.03621880e-02 9.99791132e-01 -1.75323113e-03 -3.19340723e-01] [ 6.52120956e-03 1.62074397e-03 9.99977423e-01 -7.01091453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89719347 meters Centerline goodness [0,1] 0.9251363721863439 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.32, Z:-0.70 [[ 0.99968872 -0.02402428 -0.00673076 2.33415956] [ 0.02399667 0.99970341 -0.00415356 -0.32427091] [ 0.00682855 0.00399075 0.99996872 -0.70106982] [ 0. 0. 0. 1. ]] SLAMing on 55.92719346999999 meters Centerline goodness [0,1] 0.9252979687762296 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.33, Z:-0.70 [[ 0.99959461 -0.02765988 -0.00674884 2.3343214 ] [ 0.02761565 0.99959708 -0.00656146 -0.32929573] [ 0.00692761 0.00637243 0.9999557 -0.70066956] [ 0. 0. 0. 1. ]] SLAMing on 55.95719346999999 meters Centerline goodness [0,1] 0.9253176195252424 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.34, Z:-0.70 [[ 9.99362726e-01 -3.56939010e-02 2.96222366e-04 2.34198534e+00] [ 3.56948725e-02 9.99352633e-01 -4.49354346e-03 -3.39945857e-01] [-1.35638506e-04 4.50125346e-03 9.99989860e-01 -7.02101547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.987193469999994 meters Centerline goodness [0,1] 0.9261084777046017 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.34, Z:-0.70 [[ 9.99360295e-01 -3.57626037e-02 1.89622973e-04 2.34236707e+00] [ 3.57630275e-02 9.99355183e-01 -3.19744765e-03 -3.44788178e-01] [-7.51516474e-05 3.20218372e-03 9.99994870e-01 -7.01829645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.017193469999995 meters Centerline goodness [0,1] 0.925067778936392 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.35, Z:-0.70 [[ 9.99356886e-01 -3.58567319e-02 -3.29044446e-04 2.34387110e+00] [ 3.58558852e-02 9.99354339e-01 -2.29377069e-03 -3.48245944e-01] [ 4.11079115e-04 2.28049735e-03 9.99997315e-01 -7.02200152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047193469999996 meters Centerline goodness [0,1] 0.9241110692298027 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.35, Z:-0.70 [[ 9.99372773e-01 -3.54055808e-02 -7.10848288e-04 2.34455233e+00] [ 3.54049601e-02 9.99372671e-01 -8.67497582e-04 -3.52282320e-01] [ 7.41116608e-04 8.41785909e-04 9.99999371e-01 -7.01850061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07719347 meters Centerline goodness [0,1] 0.924503366826792 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.36, Z:-0.70 [[ 9.99497410e-01 -3.16733741e-02 -1.31358264e-03 2.34533648e+00] [ 3.16779950e-02 9.99491424e-01 3.66035199e-03 -3.55114427e-01] [ 1.19697889e-03 -3.70012400e-03 9.99992438e-01 -7.01320861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10719347 meters Centerline goodness [0,1] 0.9252528213395868 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.36, Z:-0.70 [[ 9.99521807e-01 -3.08803415e-02 -1.60037543e-03 2.34559116e+00] [ 3.08871382e-02 9.99513140e-01 4.41215882e-03 -3.55669611e-01] [ 1.46334730e-03 -4.45947997e-03 9.99988986e-01 -7.00861618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13719346999999 meters Centerline goodness [0,1] 0.9262246993253154 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.36, Z:-0.70 [[ 9.99614213e-01 -2.76847222e-02 -2.23187574e-03 2.34706303e+00] [ 2.77016027e-02 9.99584821e-01 7.92505399e-03 -3.57075290e-01] [ 2.01154619e-03 -7.98382315e-03 9.99966106e-01 -7.01206020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.167193469999994 meters Centerline goodness [0,1] 0.9262246993253154 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.36, Z:-0.70 [[ 9.99614213e-01 -2.76847222e-02 -2.23187574e-03 2.34706303e+00] [ 2.77016027e-02 9.99584821e-01 7.92505399e-03 -3.57075290e-01] [ 2.01154619e-03 -7.98382315e-03 9.99966106e-01 -7.01206020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.197193469999995 meters Centerline goodness [0,1] 0.9276083066294893 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.36, Z:-0.70 [[ 0.99977423 -0.01974889 -0.00784091 2.35747231] [ 0.01981547 0.99976747 0.00850625 -0.35809954] [ 0.00767109 -0.0086597 0.99993308 -0.69959502] [ 0. 0. 0. 1. ]] SLAMing on 56.227193469999996 meters Centerline goodness [0,1] 0.9285998784143555 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.36, Z:-0.70 [[ 0.99981623 -0.01711904 -0.00862872 2.3607428 ] [ 0.01721357 0.9997913 0.01100265 -0.35760262] [ 0.00843856 -0.01114916 0.99990224 -0.70188019] [ 0. 0. 0. 1. ]] SLAMing on 56.25719347 meters Centerline goodness [0,1] 0.9304083769633508 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.36, Z:-0.70 [[ 0.99984239 -0.01498877 -0.00951523 2.36453104] [ 0.01511168 0.99980156 0.01297989 -0.35649243] [ 0.00931879 -0.01312163 0.99987048 -0.70451489] [ 0. 0. 0. 1. ]] SLAMing on 56.28719347 meters Centerline goodness [0,1] 0.9308354938529732 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.35, Z:-0.71 [[ 0.99988303 -0.01140525 -0.01019037 2.36741658] [ 0.01156689 0.99980594 0.01594648 -0.35426342] [ 0.01000651 -0.01606249 0.99982092 -0.70679103] [ 0. 0. 0. 1. ]] SLAMing on 56.31719346999999 meters Centerline goodness [0,1] 0.9332493173703004 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.35, Z:-0.71 [[ 0.99991605 -0.0085597 -0.00972746 2.37528824] [ 0.00862517 0.9999403 0.00670837 -0.35214867] [ 0.00966946 -0.00679171 0.99993018 -0.70534438] [ 0. 0. 0. 1. ]] SLAMing on 56.34719346999999 meters Centerline goodness [0,1] 0.9340164019949501 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.71 [[ 9.99972245e-01 -5.31959898e-03 -5.21640153e-03 2.38564876e+00] [ 5.31711321e-03 9.99985744e-01 -4.90281224e-04 -3.50899265e-01] [ 5.21893526e-03 4.62531419e-04 9.99986274e-01 -7.08025485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.377193469999995 meters Centerline goodness [0,1] 0.9351956476250262 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.71 [[ 9.99971322e-01 -5.26400747e-03 -5.44485059e-03 2.38616211e+00] [ 5.26180121e-03 9.99986069e-01 -4.19448395e-04 -3.50667853e-01] [ 5.44698272e-03 3.90786644e-04 9.99985089e-01 -7.07990242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.407193469999996 meters Centerline goodness [0,1] 0.9317624368461878 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.71 [[ 9.99968220e-01 -5.56615147e-03 -5.70764124e-03 2.38710735e+00] [ 5.56442056e-03 9.99984468e-01 -3.19098164e-04 -3.51560689e-01] [ 5.70932874e-03 2.87328306e-04 9.99983660e-01 -7.08466246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43719347 meters Centerline goodness [0,1] 0.9309316874501407 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.71 [[ 9.99965766e-01 -5.72662815e-03 -5.97264383e-03 2.38782707e+00] [ 5.72630988e-03 9.99983602e-01 -7.03877324e-05 -3.52033875e-01] [ 5.97294898e-03 3.61841134e-05 9.99982161e-01 -7.08517631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46719347 meters Centerline goodness [0,1] 0.9328557322632829 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.71 [[ 9.99964561e-01 -5.75703988e-03 -6.14274440e-03 2.38783193e+00] [ 5.75904837e-03 9.99983369e-01 3.09331254e-04 -3.52729260e-01] [ 6.14086140e-03 -3.44696653e-04 9.99981085e-01 -7.07855025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49719346999999 meters Centerline goodness [0,1] 0.9332706177485105 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.71 [[ 9.99961082e-01 -6.05035265e-03 -6.42091228e-03 2.38841030e+00] [ 6.05315830e-03 9.99981592e-01 4.17612240e-04 -3.53282837e-01] [ 6.41826739e-03 -4.56462785e-04 9.99979299e-01 -7.07555424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52719346999999 meters Centerline goodness [0,1] 0.9333765229566781 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.35, Z:-0.71 [[ 9.99959944e-01 -6.05951604e-03 -6.58727296e-03 2.38829406e+00] [ 6.06536595e-03 9.99981228e-01 8.68447318e-04 -3.54259912e-01] [ 6.58188694e-03 -9.08366752e-04 9.99977927e-01 -7.06637196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557193469999994 meters Centerline goodness [0,1] 0.9325770056933119 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.71 [[ 9.99928297e-01 -9.87107383e-03 -6.77963353e-03 2.38843891e+00] [ 9.85554611e-03 9.99948742e-01 -2.31995208e-03 -3.57076580e-01] [ 6.80218644e-03 2.25296874e-03 9.99974327e-01 -7.06044395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587193469999995 meters Centerline goodness [0,1] 0.9321206278684746 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.71 [[ 9.99922974e-01 -1.02739640e-02 -6.96360797e-03 2.38904206e+00] [ 1.02623623e-02 9.99945896e-01 -1.69974649e-03 -3.60357142e-01] [ 6.98069435e-03 1.62815250e-03 9.99974309e-01 -7.05978474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61719347 meters Centerline goodness [0,1] 0.9361813682311984 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.36, Z:-0.71 [[ 9.99913196e-01 -1.09639587e-02 -7.30695923e-03 2.38992883e+00] [ 1.09541995e-02 9.99939057e-01 -1.37428948e-03 -3.62688947e-01] [ 7.32158157e-03 1.29412829e-03 9.99972359e-01 -7.05818268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64719347 meters Centerline goodness [0,1] 0.9372044794690999 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.36, Z:-0.71 [[ 9.99927753e-01 -1.08450412e-02 -5.18409645e-03 2.40821289e+00] [ 1.08388428e-02 9.99940511e-01 -1.22227409e-03 -3.64380473e-01] [ 5.19704367e-03 1.16599617e-03 9.99985815e-01 -7.05740868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67719346999999 meters Centerline goodness [0,1] 0.9339128984510184 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.36, Z:-0.71 [[ 9.99920013e-01 -1.13619763e-02 -5.55629457e-03 2.40915972e+00] [ 1.13560077e-02 9.99934908e-01 -1.10456705e-03 -3.64945643e-01] [ 5.56848297e-03 1.04138138e-03 9.99983954e-01 -7.05706332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70719346999999 meters Centerline goodness [0,1] 0.9320059398071654 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.37, Z:-0.71 [[ 9.99914597e-01 -1.15751527e-02 -6.06745533e-03 2.41079888e+00] [ 1.15700478e-02 9.99932681e-01 -8.75789648e-04 -3.65718931e-01] [ 6.07718427e-03 8.05514105e-04 9.99981209e-01 -7.06464255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.737193469999994 meters Centerline goodness [0,1] 0.9317198035461584 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.37, Z:-0.71 [[ 9.99921272e-01 -1.04023574e-02 -7.01710840e-03 2.41410048e+00] [ 1.04042696e-02 9.99945846e-01 2.36048150e-04 -3.65989325e-01] [ 7.01427294e-03 -3.09037454e-04 9.99975352e-01 -7.08209974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767193469999995 meters Centerline goodness [0,1] 0.9230175614232679 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.36, Z:-0.71 [[ 0.99995505 -0.00611881 -0.00724341 2.41476692] [ 0.006145 0.99997464 0.00359903 -0.36319109] [ 0.0072212 -0.00364338 0.99996729 -0.70873827] [ 0. 0. 0. 1. ]] SLAMing on 56.797193469999996 meters Centerline goodness [0,1] 0.931575983816813 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.36, Z:-0.71 [[ 0.99995938 -0.00512044 -0.00741724 2.41508524] [ 0.00514764 0.99998008 0.00365236 -0.35940937] [ 0.00739839 -0.00369039 0.99996582 -0.70877645] [ 0. 0. 0. 1. ]] SLAMing on 56.82719347 meters Centerline goodness [0,1] 0.9341212336347121 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.36, Z:-0.71 [[ 9.99969261e-01 -1.29006520e-03 -7.73386688e-03 2.41568804e+00] [ 1.34378988e-03 9.99974977e-01 6.94551122e-03 -3.57117024e-01] [ 7.72471319e-03 -6.95569041e-03 9.99945972e-01 -7.08601693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85719347 meters Centerline goodness [0,1] 0.9379271427675716 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.35, Z:-0.71 [[ 0.99996424 0.00265788 -0.00802841 2.41579832] [-0.0025754 0.99994398 0.01026643 -0.35460487] [ 0.00805525 -0.01024539 0.99991507 -0.70786648] [ 0. 0. 0. 1. ]] SLAMing on 56.88719346999999 meters Centerline goodness [0,1] 0.940668033987694 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.35, Z:-0.70 [[ 0.99991798 0.01023607 -0.00769752 2.412853 ] [-0.01010739 0.99981154 0.01657476 -0.35092322] [ 0.00786573 -0.0164956 0.999833 -0.70455466] [ 0. 0. 0. 1. ]] SLAMing on 56.917193469999994 meters Centerline goodness [0,1] 0.9407081500104756 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.35, Z:-0.70 [[ 0.99991511 0.01033808 -0.00793137 2.41313258] [-0.01020965 0.99981879 0.0160668 -0.34923205] [ 0.00809604 -0.01598446 0.99983946 -0.70425582] [ 0. 0. 0. 1. ]] SLAMing on 56.947193469999995 meters Centerline goodness [0,1] 0.9395043731778425 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.35, Z:-0.71 [[ 0.99992848 0.0114589 -0.0034258 2.42419374] [-0.01143782 0.99991591 0.00611086 -0.34665006] [ 0.00349554 -0.00607124 0.99997546 -0.70766567] [ 0. 0. 0. 1. ]] SLAMing on 56.977193469999996 meters Centerline goodness [0,1] 0.9384189262359949 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.35, Z:-0.71 [[ 0.99993528 0.01073208 -0.00377599 2.42616068] [-0.01071259 0.99992939 0.00514435 -0.34549053] [ 0.00383094 -0.00510357 0.99997964 -0.70917732] [ 0. 0. 0. 1. ]] SLAMing on 57.00719347 meters Centerline goodness [0,1] 0.9391818258026657 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.34, Z:-0.71 [[ 0.99993936 0.01033925 -0.00379196 2.42725823] [-0.01032207 0.9999365 0.00452142 -0.34378924] [ 0.00383847 -0.004482 0.99998259 -0.71066946] [ 0. 0. 0. 1. ]] SLAMing on 57.03719347 meters Centerline goodness [0,1] 0.937288206501276 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.34, Z:-0.71 [[ 9.99967563e-01 6.93018302e-03 -4.10435868e-03 2.42831816e+00] [-6.92848576e-03 9.99975906e-01 4.27599232e-04 -3.41735332e-01] [ 4.10722313e-03 -3.99148371e-04 9.99991486e-01 -7.11456673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06719346999999 meters Centerline goodness [0,1] 0.9367769200192473 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.34, Z:-0.71 [[ 9.99967129e-01 6.81815744e-03 -4.38800483e-03 2.42932380e+00] [-6.81610376e-03 9.99976654e-01 4.82805559e-04 -3.42924105e-01] [ 4.39119423e-03 -4.52880592e-04 9.99990256e-01 -7.11855658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09719346999999 meters Centerline goodness [0,1] 0.9377474061419225 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.35, Z:-0.71 [[ 9.99974059e-01 5.43001184e-03 -4.73242980e-03 2.43065530e+00] [-5.43340370e-03 9.99984991e-01 -7.04164897e-04 -3.47441257e-01] [ 4.72853514e-03 7.29859832e-04 9.99988554e-01 -7.12569796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.127193469999995 meters Centerline goodness [0,1] 0.9384171579079393 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.35, Z:-0.71 [[ 9.99986323e-01 2.29347072e-03 -4.70031193e-03 2.43049938e+00] [-2.31123211e-03 9.99990197e-01 -3.77682649e-03 -3.48491297e-01] [ 4.69160381e-03 3.78763835e-03 9.99981821e-01 -7.12453011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.157193469999996 meters Centerline goodness [0,1] 0.9399032926548468 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.35, Z:-0.71 [[ 9.99986615e-01 1.91757100e-03 -4.80555312e-03 2.43102024e+00] [-1.93227484e-03 9.99993461e-01 -3.05698766e-03 -3.51338708e-01] [ 4.79965970e-03 3.06623239e-03 9.99983781e-01 -7.12455842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18719347 meters Centerline goodness [0,1] 0.9393225638353309 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.35, Z:-0.71 [[ 9.99984536e-01 5.85937730e-04 -5.53027023e-03 2.43359458e+00] [-6.04483919e-04 9.99994198e-01 -3.35250190e-03 -3.54058165e-01] [ 5.52827379e-03 3.35579302e-03 9.99979088e-01 -7.13568225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21719347 meters Centerline goodness [0,1] 0.9390532790291747 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.36, Z:-0.71 [[ 0.99996347 -0.0064871 -0.00556517 2.43289206] [ 0.0064372 0.99993935 -0.00893685 -0.36031827] [ 0.00562281 0.0089007 0.99994458 -0.71204954] [ 0. 0. 0. 1. ]] SLAMing on 57.24719346999999 meters Centerline goodness [0,1] 0.9376302843325273 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.36, Z:-0.71 [[ 0.99993282 -0.01006578 -0.00574702 2.43321788] [ 0.00999887 0.99988324 -0.01155556 -0.36454005] [ 0.00586267 0.01149732 0.99991672 -0.7116633 ] [ 0. 0. 0. 1. ]] SLAMing on 57.27719346999999 meters Centerline goodness [0,1] 0.9352418765019329 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.37, Z:-0.71 [[ 0.9998853 -0.0138363 -0.00616039 2.43474572] [ 0.01374627 0.99980146 -0.01442478 -0.36858043] [ 0.00635875 0.01433844 0.99987698 -0.71232268] [ 0. 0. 0. 1. ]] SLAMing on 57.307193469999994 meters Centerline goodness [0,1] 0.9327466477592643 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.37, Z:-0.71 [[ 0.99983553 -0.01688115 -0.00662822 2.43726094] [ 0.01676879 0.99972064 -0.016657 -0.37243055] [ 0.00690756 0.01654312 0.99983929 -0.71401138] [ 0. 0. 0. 1. ]] SLAMing on 57.337193469999995 meters Centerline goodness [0,1] 0.9281144463323054 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.38, Z:-0.72 [[ 0.99978373 -0.01954072 -0.00711725 2.44041484] [ 0.01941115 0.99965239 -0.0178409 -0.37788166] [ 0.0074634 0.01769888 0.99981551 -0.71650304] [ 0. 0. 0. 1. ]] SLAMing on 57.36719347 meters Centerline goodness [0,1] 0.9261021781514014 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.38, Z:-0.72 [[ 0.99980498 -0.01819734 -0.0076721 2.44328811] [ 0.01807501 0.999713 -0.01572282 -0.38055574] [ 0.00795601 0.01558108 0.99984695 -0.71862881] [ 0. 0. 0. 1. ]] SLAMing on 57.39719347 meters Centerline goodness [0,1] 0.9244045131633932 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.38, Z:-0.72 [[ 0.9998196 -0.01715315 -0.00815651 2.44557149] [ 0.01703763 0.99975644 -0.01402752 -0.38330593] [ 0.00839514 0.01388602 0.99986834 -0.72012351] [ 0. 0. 0. 1. ]] SLAMing on 57.42719346999999 meters Centerline goodness [0,1] 0.9218568344128882 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.39, Z:-0.72 [[ 0.99983982 -0.01736218 -0.00434623 2.45406864] [ 0.01734581 0.99984242 -0.00377512 -0.39180038] [ 0.00441109 0.00369913 0.99998343 -0.72019172] [ 0. 0. 0. 1. ]] SLAMing on 57.45719346999999 meters Centerline goodness [0,1] 0.924198617221873 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.40, Z:-0.72 [[ 9.99849087e-01 -1.68057687e-02 -4.40095360e-03 2.45355113e+00] [ 1.67957213e-02 9.99856273e-01 -2.31009510e-03 -3.95720283e-01] [ 4.43914399e-03 2.23582928e-03 9.99987647e-01 -7.19060224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487193469999994 meters Centerline goodness [0,1] 0.921957255814929 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.40, Z:-0.72 [[ 9.99856081e-01 -1.63581356e-02 -4.49772036e-03 2.45350053e+00] [ 1.63531841e-02 9.99865633e-01 -1.13547805e-03 -3.98737462e-01] [ 4.51569032e-03 1.06176258e-03 9.99989241e-01 -7.18389348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517193469999995 meters Centerline goodness [0,1] 0.9244075779996248 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.40, Z:-0.72 [[ 9.99855058e-01 -1.62917261e-02 -4.94390154e-03 2.45453612e+00] [ 1.62887546e-02 9.99867124e-01 -6.40708810e-04 -4.00511578e-01] [ 4.95368287e-03 5.60085945e-04 9.99987574e-01 -7.18417872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547193469999996 meters Centerline goodness [0,1] 0.9241715113228535 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.40, Z:-0.72 [[ 9.99874316e-01 -1.51265037e-02 -4.74771311e-03 2.45375488e+00] [ 1.51310530e-02 9.99885092e-01 9.23753542e-04 -4.03086908e-01] [ 4.73319440e-03 -9.95475339e-04 9.99988303e-01 -7.17783761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57719347 meters Centerline goodness [0,1] 0.9244407100094528 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.40, Z:-0.72 [[ 0.9999036 -0.01276373 -0.00546608 2.45600998] [ 0.0127836 0.99991174 0.00361695 -0.40450384] [ 0.00541943 -0.00368647 0.99997852 -0.71879878] [ 0. 0. 0. 1. ]] SLAMing on 57.60719346999999 meters Centerline goodness [0,1] 0.9272926177602928 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.40, Z:-0.72 [[ 0.99990908 -0.01229153 -0.00554589 2.45628291] [ 0.01231443 0.99991571 0.00411431 -0.40498055] [ 0.00549485 -0.00418223 0.99997616 -0.71889581] [ 0. 0. 0. 1. ]] SLAMing on 57.63719346999999 meters Centerline goodness [0,1] 0.9248350367394518 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.40, Z:-0.72 [[ 9.99950827e-01 -9.91596491e-03 -1.30291427e-04 2.46891055e+00] [ 9.91570602e-03 9.99949115e-01 -1.85654323e-03 -4.04720449e-01] [ 1.48694215e-04 1.85516000e-03 9.99998268e-01 -7.22263011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667193469999994 meters Centerline goodness [0,1] 0.925574646169376 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.41, Z:-0.72 [[ 9.99952769e-01 -9.71624961e-03 -2.32631729e-04 2.46889083e+00] [ 9.71589690e-03 9.99951716e-01 -1.47210843e-03 -4.05504058e-01] [ 2.46923870e-04 1.46977867e-03 9.99998889e-01 -7.21834108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697193469999995 meters Centerline goodness [0,1] 0.9296952128888609 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.41, Z:-0.72 [[ 9.99955987e-01 -9.37648336e-03 -3.24282549e-04 2.46888698e+00] [ 9.37618779e-03 9.99955636e-01 -9.01271255e-04 -4.06488378e-01] [ 3.32718918e-04 8.98191054e-04 9.99999541e-01 -7.21445086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727193469999996 meters Centerline goodness [0,1] 0.9299567608412745 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.41, Z:-0.72 [[ 9.99957316e-01 -9.22794885e-03 -4.58450781e-04 2.46920680e+00] [ 9.22773281e-03 9.99957313e-01 -4.71133179e-04 -4.07487530e-01] [ 4.62778804e-04 4.66882608e-04 9.99999784e-01 -7.21322338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75719347 meters Centerline goodness [0,1] 0.9244894095871106 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.41, Z:-0.72 [[ 9.99952340e-01 -9.73469721e-03 -7.43675386e-04 2.47062635e+00] [ 9.73404364e-03 9.99952238e-01 -8.77454311e-04 -4.06530614e-01] [ 7.52181619e-04 8.70173523e-04 9.99999339e-01 -7.22463565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78719347 meters Centerline goodness [0,1] 0.9232489134068873 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.41, Z:-0.72 [[ 9.99962553e-01 -8.49617385e-03 -1.64539065e-03 2.47409327e+00] [ 8.49706689e-03 9.99963755e-01 5.36526607e-04 -4.05784414e-01] [ 1.64077259e-03 -5.50487510e-04 9.99998502e-01 -7.24527273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81719346999999 meters Centerline goodness [0,1] 0.9207854606225193 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.41, Z:-0.73 [[ 9.99980284e-01 -5.88852128e-03 -2.18081625e-03 2.47590002e+00] [ 5.89647786e-03 9.99975917e-01 3.66016025e-03 -4.06706119e-01] [ 2.15921080e-03 -3.67294723e-03 9.99990924e-01 -7.25210959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84719346999999 meters Centerline goodness [0,1] 0.9218470976281015 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.41, Z:-0.72 [[ 0.99998175 -0.00548396 -0.00253553 2.47633059] [ 0.00549439 0.9999764 0.00412338 -0.40756364] [ 0.00251286 -0.00413724 0.99998828 -0.72480106] [ 0. 0. 0. 1. ]] SLAMing on 57.877193469999995 meters Centerline goodness [0,1] 0.9230591108117211 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.41, Z:-0.73 [[ 0.99998362 -0.00486799 -0.00301117 2.47732979] [ 0.00488164 0.99997776 0.00454397 -0.4092229 ] [ 0.00298898 -0.0045586 0.99998514 -0.7251848 ] [ 0. 0. 0. 1. ]] SLAMing on 57.907193469999996 meters Centerline goodness [0,1] 0.9171022218520293 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.73 [[ 9.99998392e-01 -7.70069624e-04 -1.61986754e-03 2.49120295e+00] [ 7.68767595e-04 9.99999381e-01 -8.04256493e-04 -4.09148866e-01] [ 1.62048587e-03 8.03009898e-04 9.99998365e-01 -7.28837852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93719347 meters Centerline goodness [0,1] 0.9207939468885582 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.73 [[ 9.99997994e-01 -8.29515766e-04 -1.82307254e-03 2.49190874e+00] [ 8.28038028e-04 9.99999328e-01 -8.11180404e-04 -4.08400459e-01] [ 1.82374420e-03 8.09669204e-04 9.99998009e-01 -7.29199733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96719347 meters Centerline goodness [0,1] 0.9216490530501203 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.73 [[ 9.99997627e-01 -9.01874703e-04 -1.98309910e-03 2.49230521e+00] [ 9.00454368e-04 9.99999338e-01 -7.16995906e-04 -4.07883186e-01] [ 1.98374443e-03 7.15208514e-04 9.99997777e-01 -7.29108394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99719346999999 meters Centerline goodness [0,1] 0.9241632891823006 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.73 [[ 9.99997144e-01 -1.36937158e-03 -1.95900417e-03 2.49136056e+00] [ 1.36899225e-03 9.99999044e-01 -1.94962252e-04 -4.09784760e-01] [ 1.95926927e-03 1.92279833e-04 9.99998062e-01 -7.26974439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02719346999999 meters Centerline goodness [0,1] 0.9240664679023414 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.73 [[ 9.99996822e-01 -1.46593785e-03 -2.05121799e-03 2.49109023e+00] [ 1.46702244e-03 9.99998785e-01 5.27353804e-04 -4.12330543e-01] [ 2.05044243e-03 -5.30361310e-04 9.99997757e-01 -7.25810681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057193469999994 meters Centerline goodness [0,1] 0.9248499097359251 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.72 [[ 9.99988176e-01 -4.50777268e-03 -1.82435275e-03 2.48951891e+00] [ 4.50352036e-03 9.99987149e-01 -2.32829571e-03 -4.13209917e-01] [ 1.83482473e-03 2.32005217e-03 9.99995625e-01 -7.24119597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087193469999995 meters Centerline goodness [0,1] 0.9248499097359251 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.72 [[ 9.99988176e-01 -4.50777268e-03 -1.82435275e-03 2.48951891e+00] [ 4.50352036e-03 9.99987149e-01 -2.32829571e-03 -4.13209917e-01] [ 1.83482473e-03 2.32005217e-03 9.99995625e-01 -7.24119597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11719347 meters Centerline goodness [0,1] 0.92408600805022 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.72 [[ 9.99984980e-01 -5.05651449e-03 -2.11441513e-03 2.49028912e+00] [ 5.05166168e-03 9.99984609e-01 -2.29418129e-03 -4.14104497e-01] [ 2.12598314e-03 2.28346552e-03 9.99995133e-01 -7.23998438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14719347 meters Centerline goodness [0,1] 0.9259407105489842 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.41, Z:-0.73 [[ 9.99973801e-01 -6.80436063e-03 -2.46939403e-03 2.49275063e+00] [ 6.79446810e-03 9.99968947e-01 -3.99257628e-03 -4.10350926e-01] [ 2.49648428e-03 3.97569346e-03 9.99988981e-01 -7.26263594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17719346999999 meters Centerline goodness [0,1] 0.9220687064323579 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.41, Z:-0.73 [[ 9.99979352e-01 -5.49568053e-03 -3.33073137e-03 2.49661350e+00] [ 5.48844737e-03 9.99982569e-01 -2.17690729e-03 -4.09262875e-01] [ 3.34263690e-03 2.15858180e-03 9.99992084e-01 -7.28819548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20719346999999 meters Centerline goodness [0,1] 0.9251542725656312 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.41, Z:-0.73 [[ 0.99997451 -0.00613814 -0.00364667 2.49749041] [ 0.00612811 0.99997743 -0.00275437 -0.40790171] [ 0.00366349 0.00273195 0.99998956 -0.72903708] [ 0. 0. 0. 1. ]] SLAMing on 58.237193469999994 meters Centerline goodness [0,1] 0.9174869897799235 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.41, Z:-0.73 [[ 0.99995883 -0.00802424 -0.00423596 2.49852772] [ 0.00800568 0.99995836 -0.00438056 -0.40582541] [ 0.00427094 0.00434647 0.99998143 -0.72862573] [ 0. 0. 0. 1. ]] SLAMing on 58.267193469999995 meters Centerline goodness [0,1] 0.9152744131651491 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.40, Z:-0.73 [[ 0.99994879 -0.00897127 -0.00468386 2.49959674] [ 0.00894624 0.99994573 -0.00533778 -0.40402171] [ 0.00473149 0.00529561 0.99997478 -0.72869953] [ 0. 0. 0. 1. ]] SLAMing on 58.297193469999996 meters Centerline goodness [0,1] 0.9087124777742914 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.40, Z:-0.73 [[ 0.99996477 -0.00671746 -0.00503357 2.50037018] [ 0.00670464 0.99997425 -0.00255886 -0.40272352] [ 0.00505063 0.00252502 0.99998406 -0.72838575] [ 0. 0. 0. 1. ]] SLAMing on 58.32719347 meters Centerline goodness [0,1] 0.8959406336059198 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.40, Z:-0.73 [[ 0.99995915 -0.00737114 -0.00523105 2.5007136 ] [ 0.0073519 0.99996617 -0.0036886 -0.39873289] [ 0.00525807 0.00364999 0.99997951 -0.72822562] [ 0. 0. 0. 1. ]] SLAMing on 58.35719346999999 meters Centerline goodness [0,1] 0.8879004678681577 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.40, Z:-0.73 [[ 9.99971922e-01 -4.90823328e-03 -5.66246206e-03 2.50177679e+00] [ 4.90249086e-03 9.99987455e-01 -1.02755655e-03 -3.96124885e-01] [ 5.66743451e-03 9.99767529e-04 9.99983440e-01 -7.28123585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38719346999999 meters Centerline goodness [0,1] 0.8604407355377099 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.39, Z:-0.73 [[ 9.99974095e-01 -3.89074050e-03 -6.05568254e-03 2.50247333e+00] [ 3.88777870e-03 9.99992317e-01 -5.00789620e-04 -3.88542906e-01] [ 6.05758446e-03 4.77233493e-04 9.99981539e-01 -7.27716533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417193469999994 meters Centerline goodness [0,1] 0.8200162598236435 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.38, Z:-0.73 [[ 9.99968604e-01 -4.76750457e-03 -6.32951713e-03 2.50321137e+00] [ 4.75566879e-03 9.99986918e-01 -1.88366883e-03 -3.84321313e-01] [ 6.33841473e-03 1.85350860e-03 9.99978194e-01 -7.27747703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447193469999995 meters Centerline goodness [0,1] 0.8073727497796988 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.38, Z:-0.73 [[ 0.99996345 -0.00550616 -0.00654099 2.50338226] [ 0.00548554 0.99997994 -0.0031664 -0.38004128] [ 0.0065583 0.0031304 0.99997359 -0.72726656] [ 0. 0. 0. 1. ]] SLAMing on 58.477193469999996 meters Centerline goodness [0,1] 0.7920440047685776 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.37, Z:-0.73 [[ 0.99996037 -0.00523958 -0.00719801 2.50516666] [ 0.00521482 0.99998044 -0.00345395 -0.37046575] [ 0.00721596 0.00341627 0.99996813 -0.72751325] [ 0. 0. 0. 1. ]] SLAMing on 58.50719347 meters Centerline goodness [0,1] 0.7416904876165835 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.37, Z:-0.73 [[ 9.99966513e-01 -3.10896814e-03 -7.57014549e-03 2.50658458e+00] [ 3.09792384e-03 9.99994121e-01 -1.47021718e-03 -3.66336019e-01] [ 7.57467184e-03 1.44671621e-03 9.99970265e-01 -7.28092061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53719347 meters Centerline goodness [0,1] 0.7346883412282715 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.36, Z:-0.73 [[ 9.99969400e-01 -1.13746655e-03 -7.73978745e-03 2.50800360e+00] [ 1.13794686e-03 9.99999351e-01 5.76538031e-05 -3.61601337e-01] [ 7.73971685e-03 -6.64595057e-05 9.99970046e-01 -7.29179675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56719346999999 meters Centerline goodness [0,1] 0.7609902192807925 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.36, Z:-0.73 [[ 9.99966465e-01 7.08526702e-04 -8.15881409e-03 2.50947350e+00] [-6.98587421e-04 9.99999011e-01 1.22101169e-03 -3.55694307e-01] [ 8.15967114e-03 -1.21527110e-03 9.99965971e-01 -7.29872371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59719346999999 meters Centerline goodness [0,1] 0.7559043567551709 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.34, Z:-0.73 [[ 9.99943110e-01 3.73767606e-03 -9.99035276e-03 2.51449050e+00] [-3.72658332e-03 9.99992419e-01 1.12873023e-03 -3.39758263e-01] [ 9.99449586e-03 -1.09143613e-03 9.99949458e-01 -7.33138541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627193469999995 meters Centerline goodness [0,1] 0.7257383088097566 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.33, Z:-0.74 [[ 0.9999677 0.00612181 -0.0052074 2.52783223] [-0.0061504 0.999966 -0.00549326 -0.33061517] [ 0.00517359 0.00552511 0.99997135 -0.73676362] [ 0. 0. 0. 1. ]] SLAMing on 58.657193469999996 meters Centerline goodness [0,1] 0.7971810898108143 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.32, Z:-0.74 [[ 0.99995015 0.0083301 -0.00550521 2.5282444 ] [-0.00835552 0.99995447 -0.00460993 -0.32279022] [ 0.00546656 0.00465569 0.99997422 -0.7362703 ] [ 0. 0. 0. 1. ]] SLAMing on 58.68719347 meters Centerline goodness [0,1] 0.7743298368298368 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.31, Z:-0.74 [[ 0.99990589 0.01167971 -0.00719743 2.53190436] [-0.01170067 0.99992741 -0.00287587 -0.30774064] [ 0.00716332 0.00295982 0.99996996 -0.73599785] [ 0. 0. 0. 1. ]] SLAMing on 58.71719347 meters Centerline goodness [0,1] 0.7460762914457957 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.30, Z:-0.74 [[ 9.99884455e-01 1.31191673e-02 -7.67877525e-03 2.53398414e+00] [-1.31380146e-02 9.99910790e-01 -2.40920043e-03 -3.00520725e-01] [ 7.64648352e-03 2.50980593e-03 9.99967616e-01 -7.37065785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74719346999999 meters Centerline goodness [0,1] 0.7411612201802253 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.29, Z:-0.74 [[ 9.99859788e-01 1.47446710e-02 -7.93717643e-03 2.53498268e+00] [-1.47576715e-02 9.99889848e-01 -1.58185284e-03 -2.93851546e-01] [ 7.91297824e-03 1.69876529e-03 9.99967249e-01 -7.37370028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77719346999999 meters Centerline goodness [0,1] 0.7364004508829791 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.29, Z:-0.74 [[ 0.99986955 0.0138157 -0.00836682 2.53670663] [-0.01384499 0.99989819 -0.00345348 -0.28637288] [ 0.00831825 0.00356887 0.99995903 -0.73815283] [ 0. 0. 0. 1. ]] SLAMing on 58.807193469999994 meters Centerline goodness [0,1] 0.7480381048302489 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.74 [[ 0.99985784 0.01457803 -0.00847249 2.53702081] [-0.01461348 0.99988466 -0.00413686 -0.27404717] [ 0.00841121 0.00426008 0.99995555 -0.73781905] [ 0. 0. 0. 1. ]] SLAMing on 58.837193469999995 meters Centerline goodness [0,1] 0.7466575177260724 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.74 [[ 0.99983304 0.01576685 -0.00923582 2.54013936] [-0.01579877 0.99986943 -0.00339336 -0.26886112] [ 0.00918112 0.00353871 0.99995159 -0.73954666] [ 0. 0. 0. 1. ]] SLAMing on 58.86719347 meters Centerline goodness [0,1] 0.7174209807833666 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.74 [[ 0.99982899 0.01593156 -0.00938974 2.54122104] [-0.01596834 0.99986507 -0.00385516 -0.26331461] [ 0.00932705 0.00400444 0.99994848 -0.74027907] [ 0. 0. 0. 1. ]] SLAMing on 58.89719347 meters Centerline goodness [0,1] 0.7325778919456414 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.25, Z:-0.74 [[ 0.99980448 0.01733632 -0.00951084 2.5623864 ] [-0.01739153 0.9998322 -0.00575373 -0.25388102] [ 0.0094095 0.00591801 0.99993822 -0.74146941] [ 0. 0. 0. 1. ]] SLAMing on 58.92719346999999 meters Centerline goodness [0,1] 0.7745198436748939 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.25, Z:-0.74 [[ 0.9997904 0.01822278 -0.00933219 2.56116275] [-0.01827366 0.99981846 -0.00539652 -0.24937658] [ 0.00923216 0.00556593 0.99994189 -0.74009249] [ 0. 0. 0. 1. ]] SLAMing on 58.95719346999999 meters Centerline goodness [0,1] 0.72738909640324 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.24, Z:-0.74 [[ 0.99979645 0.01779141 -0.00951463 2.56111903] [-0.01785602 0.99981778 -0.00675009 -0.24487099] [ 0.00939281 0.00691861 0.99993195 -0.73927628] [ 0. 0. 0. 1. ]] SLAMing on 58.987193469999994 meters Centerline goodness [0,1] 0.7964125937283401 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.24, Z:-0.74 [[ 0.9997849 0.01825079 -0.00985206 2.56117958] [-0.0183173 0.99980975 -0.00670332 -0.24023503] [ 0.00972785 0.00688234 0.999929 -0.73822914] [ 0. 0. 0. 1. ]] SLAMing on 59.017193469999995 meters Centerline goodness [0,1] 0.7438924996342814 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.23, Z:-0.74 [[ 9.99798975e-01 2.00409951e-02 6.07519665e-04 2.56558460e+00] [-2.00381328e-02 9.99789538e-01 -4.39916083e-03 -2.29225069e-01] [-6.95555366e-04 4.38610293e-03 9.99990139e-01 -7.35854927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047193469999996 meters Centerline goodness [0,1] 0.8006714930227679 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.22, Z:-0.73 [[ 9.99748853e-01 2.23978630e-02 7.52858516e-04 2.56434997e+00] [-2.23956360e-02 9.99745134e-01 -2.84665126e-03 -2.24454058e-01] [-8.16425543e-04 2.82907559e-03 9.99995665e-01 -7.34106421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07719347 meters Centerline goodness [0,1] 0.8206020459500252 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.22, Z:-0.73 [[ 9.99743276e-01 2.26479990e-02 6.71300571e-04 2.56474180e+00] [-2.26451618e-02 9.99735686e-01 -3.96922629e-03 -2.18734899e-01] [-7.61018170e-04 3.95300558e-03 9.99991897e-01 -7.33874089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10719346999999 meters Centerline goodness [0,1] 0.8231438321957716 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.21, Z:-0.73 [[ 9.99663179e-01 2.59461521e-02 5.71544833e-04 2.56564675e+00] [-2.59451858e-02 9.99662025e-01 -1.63773762e-03 -2.14434684e-01] [-6.13844655e-04 1.62235716e-03 9.99998496e-01 -7.34197191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13719346999999 meters Centerline goodness [0,1] 0.909659412838646 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.74 [[ 9.99349074e-01 3.60698043e-02 6.30902206e-04 2.56747250e+00] [-3.60730034e-02 9.99330286e-01 6.14142447e-03 -2.04782082e-01] [-4.08959704e-04 -6.16018539e-03 9.99980942e-01 -7.35692298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167193469999994 meters Centerline goodness [0,1] 0.9125962931088768 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.74 [[ 9.99225650e-01 3.93442589e-02 3.59461491e-04 2.56979981e+00] [-3.93458720e-02 9.99194291e-01 7.91655770e-03 -1.98355923e-01] [-4.77007735e-05 -7.92457084e-03 9.99968599e-01 -7.37448612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197193469999995 meters Centerline goodness [0,1] 0.9104352209712654 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.19, Z:-0.74 [[ 9.99086322e-01 4.27375739e-02 1.43713254e-04 2.57187915e+00] [-4.27369179e-02 9.99037895e-01 9.84074163e-03 -1.92300494e-01] [ 2.76994436e-04 -9.83789222e-03 9.99951568e-01 -7.38978051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227193469999996 meters Centerline goodness [0,1] 0.9070075478838593 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.18, Z:-0.74 [[ 0.9987271 0.05019406 -0.0049744 2.58186158] [-0.05016174 0.99872045 0.00642365 -0.18068309] [ 0.00529047 -0.00616595 0.999967 -0.73791464] [ 0. 0. 0. 1. ]] SLAMing on 59.25719347 meters Centerline goodness [0,1] 0.9086530371866061 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.18, Z:-0.74 [[ 0.99856749 0.05325198 -0.00521416 2.58379731] [-0.05320613 0.99854679 0.00856844 -0.17659989] [ 0.00566287 -0.00827874 0.9999497 -0.7391204 ] [ 0. 0. 0. 1. ]] SLAMing on 59.28719347 meters Centerline goodness [0,1] 0.9105184812461999 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.74 [[ 0.99837154 0.05678933 -0.00540707 2.58501547] [-0.05672519 0.99832524 0.01135663 -0.17305845] [ 0.00604295 -0.01103142 0.99992089 -0.73942528] [ 0. 0. 0. 1. ]] SLAMing on 59.31719346999999 meters Centerline goodness [0,1] 0.9091271005322047 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.74 [[ 0.99816281 0.0603394 -0.00549259 2.58595991] [-0.06025588 0.99808083 0.0142787 -0.16983516] [ 0.00634362 -0.01392151 0.99988297 -0.73960588] [ 0. 0. 0. 1. ]] SLAMing on 59.34719346999999 meters Centerline goodness [0,1] 0.9120087382107673 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.74 [[ 0.99792944 0.06406011 -0.00575546 2.58769569] [-0.06395464 0.99780893 0.01694519 -0.16550105] [ 0.00682836 -0.01654201 0.99983985 -0.74040364] [ 0. 0. 0. 1. ]] SLAMing on 59.377193469999995 meters Centerline goodness [0,1] 0.9099484341592252 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.74 [[ 0.99793233 0.0639759 -0.00617576 2.58938254] [-0.06386544 0.99781915 0.01667774 -0.16513992] [ 0.00722926 -0.01624884 0.99984184 -0.7415734 ] [ 0. 0. 0. 1. ]] SLAMing on 59.407193469999996 meters Centerline goodness [0,1] 0.9025374976465912 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.16, Z:-0.74 [[ 0.99813627 0.0606539 -0.00671515 2.59083505] [-0.06056459 0.99808235 0.01278908 -0.16441157] [ 0.00747798 -0.01235854 0.99989567 -0.74256661] [ 0. 0. 0. 1. ]] SLAMing on 59.43719347 meters Centerline goodness [0,1] 0.9118298441352221 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.74 [[ 0.99833145 0.05733818 -0.00682965 2.59057051] [-0.05727354 0.9983151 0.00931138 -0.16551637] [ 0.00735204 -0.00890468 0.99993332 -0.742129 ] [ 0. 0. 0. 1. ]] SLAMing on 59.46719347 meters Centerline goodness [0,1] 0.9104841591859902 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.74 [[ 0.99852843 0.05378844 -0.0069124 2.58988599] [-0.05375047 0.99853888 0.00556637 -0.1654778 ] [ 0.0072017 -0.00518664 0.99996062 -0.74118587] [ 0. 0. 0. 1. ]] SLAMing on 59.49719346999999 meters Centerline goodness [0,1] 0.9112881306320433 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.74 [[ 0.99879664 0.04871959 -0.00562862 2.59806827] [-0.04865235 0.99874931 0.01152234 -0.16792388] [ 0.00618295 -0.01123463 0.99991777 -0.73992015] [ 0. 0. 0. 1. ]] SLAMing on 59.52719346999999 meters Centerline goodness [0,1] 0.9116138255823732 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.74 [[ 0.99896823 0.04504053 -0.00581649 2.59758424] [-0.04499313 0.99895496 0.00803782 -0.16932432] [ 0.00617244 -0.00776783 0.99995078 -0.73904681] [ 0. 0. 0. 1. ]] SLAMing on 59.557193469999994 meters Centerline goodness [0,1] 0.9139567679063796 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.74 [[ 9.99259191e-01 3.80172412e-02 -5.97986795e-03 2.59653456e+00] [-3.80065999e-02 9.99275714e-01 1.88323760e-03 -1.74041995e-01] [ 6.04713231e-03 -1.65456803e-03 9.99980347e-01 -7.37780416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.587193469999995 meters Centerline goodness [0,1] 0.9144672225356822 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.18, Z:-0.74 [[ 0.99952814 0.03026436 -0.00524984 2.6062718 ] [-0.03024082 0.99953248 0.00450692 -0.17645056] [ 0.00538378 -0.00434604 0.99997606 -0.7377904 ] [ 0. 0. 0. 1. ]] SLAMing on 59.61719347 meters Centerline goodness [0,1] 0.9159945816400958 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.18, Z:-0.74 [[ 9.99641818e-01 2.61710938e-02 -5.59556928e-03 2.60676574e+00] [-2.61664012e-02 9.99657187e-01 9.10216511e-04 -1.78293765e-01] [ 5.61747240e-03 -7.63474577e-04 9.99983930e-01 -7.37614178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64719347 meters Centerline goodness [0,1] 0.9182497107394552 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.18, Z:-0.74 [[ 9.99732360e-01 2.24237181e-02 -5.69086202e-03 2.60648622e+00] [-2.24374766e-02 9.99745450e-01 -2.36543274e-03 -1.79954738e-01] [ 5.63637161e-03 2.49248824e-03 9.99981009e-01 -7.37035158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67719346999999 meters Centerline goodness [0,1] 0.9225838884001508 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.18, Z:-0.74 [[ 9.99893980e-01 1.34010560e-02 -5.69563823e-03 2.61457051e+00] [-1.34017499e-02 9.99910189e-01 -8.36820154e-05 -1.84046316e-01] [ 5.69400528e-03 1.60004663e-04 9.99983776e-01 -7.35138043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70719346999999 meters Centerline goodness [0,1] 0.9177542683565518 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.19, Z:-0.74 [[ 0.99993599 0.00951967 -0.00611478 2.61577463] [-0.0095424 0.99994763 -0.00369924 -0.18528451] [ 0.00607924 0.00375735 0.99997446 -0.73572228] [ 0. 0. 0. 1. ]] SLAMing on 59.737193469999994 meters Centerline goodness [0,1] 0.9129005923848199 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.19, Z:-0.74 [[ 0.99994715 0.0077103 -0.00680115 2.61860386] [-0.00774519 0.9999569 -0.00511943 -0.18673901] [ 0.00676139 0.00517184 0.99996377 -0.73753811] [ 0. 0. 0. 1. ]] SLAMing on 59.767193469999995 meters Centerline goodness [0,1] 0.9182256265650975 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.19, Z:-0.74 [[ 0.99994716 0.0075178 -0.00701182 2.61924588] [-0.00755359 0.9999585 -0.00509232 -0.18750422] [ 0.00697324 0.00514502 0.99996245 -0.73781242] [ 0. 0. 0. 1. ]] SLAMing on 59.797193469999996 meters Centerline goodness [0,1] 0.9196173254835996 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.19, Z:-0.74 [[ 0.99994698 0.00765803 -0.00688407 2.61877199] [-0.00769522 0.99995585 -0.00539323 -0.18568224] [ 0.00684246 0.00544591 0.99996176 -0.73708711] [ 0. 0. 0. 1. ]] SLAMing on 59.82719347 meters Centerline goodness [0,1] 0.9154230929553981 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.18, Z:-0.74 [[ 0.99992255 0.00986171 -0.00759257 2.62100402] [-0.0098847 0.99994666 -0.0029954 -0.18468128] [ 0.00756262 0.00307022 0.99996669 -0.73803583] [ 0. 0. 0. 1. ]] SLAMing on 59.85719346999999 meters Centerline goodness [0,1] 0.9192332588586583 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.18, Z:-0.74 [[ 0.99991996 0.00990188 -0.00787632 2.62180778] [-0.00992904 0.99994487 -0.00341669 -0.1829813 ] [ 0.00784205 0.00349462 0.99996314 -0.73828654] [ 0. 0. 0. 1. ]] SLAMing on 59.88719346999999 meters Centerline goodness [0,1] 0.9157098501739982 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.18, Z:-0.74 [[ 0.99992117 0.00953132 -0.00817401 2.62446875] [-0.00956693 0.99994487 -0.00432854 -0.18098446] [ 0.0081323 0.0044064 0.99995722 -0.74078684] [ 0. 0. 0. 1. ]] SLAMing on 59.917193469999994 meters Centerline goodness [0,1] 0.9136317865234539 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.18, Z:-0.74 [[ 0.9999219 0.00922691 -0.00843011 2.62545535] [-0.0092657 0.99994661 -0.0045738 -0.18079215] [ 0.00838745 0.00465156 0.99995401 -0.74141648] [ 0. 0. 0. 1. ]] SLAMing on 59.947193469999995 meters Centerline goodness [0,1] 0.9114119760979482 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.18, Z:-0.74 [[ 0.9999223 0.00870197 -0.00892613 2.62716295] [-0.00874628 0.99994956 -0.00493694 -0.18064362] [ 0.00888272 0.00501462 0.99994797 -0.74236036] [ 0. 0. 0. 1. ]] SLAMing on 59.977193469999996 meters Centerline goodness [0,1] 0.9114119760979482 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.18, Z:-0.74 [[ 0.9999223 0.00870197 -0.00892613 2.62716295] [-0.00874628 0.99994956 -0.00493694 -0.18064362] [ 0.00888272 0.00501462 0.99994797 -0.74236036] [ 0. 0. 0. 1. ]] SLAMing on 60.00719347 meters Centerline goodness [0,1] 0.9169333108790838 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.18, Z:-0.74 [[ 0.99992372 0.00826976 -0.00917406 2.62769931] [-0.00831952 0.99995081 -0.00539978 -0.17992601] [ 0.00912895 0.00547569 0.99994334 -0.74233661] [ 0. 0. 0. 1. ]] SLAMing on 60.03719347 meters Centerline goodness [0,1] 0.9068681836260493 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.18, Z:-0.74 [[ 0.99996284 0.00714891 -0.00481817 2.63576398] [-0.00713282 0.99996896 0.00334726 -0.17728584] [ 0.00484195 -0.00331277 0.99998279 -0.74286293] [ 0. 0. 0. 1. ]] SLAMing on 60.06719346999999 meters Centerline goodness [0,1] 0.9179454926624738 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.17, Z:-0.74 [[ 9.99963243e-01 7.05384204e-03 -4.87402093e-03 2.63559648e+00] [-7.04216032e-03 9.99972300e-01 2.40975256e-03 -1.74356458e-01] [ 4.89088393e-03 -2.37534035e-03 9.99985218e-01 -7.42196342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09719346999999 meters Centerline goodness [0,1] 0.9213476057285861 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.17, Z:-0.74 [[ 9.99961694e-01 7.25457641e-03 -4.89712133e-03 2.63532561e+00] [-7.24640139e-03 9.99972325e-01 1.68503631e-03 -1.71633184e-01] [ 4.90921002e-03 -1.64948525e-03 9.99986589e-01 -7.41468163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.127193469999995 meters Centerline goodness [0,1] 0.9210769683467148 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.17, Z:-0.74 [[ 0.99992195 0.01179232 -0.00412853 2.6334242 ] [-0.01177607 0.99992291 0.00393771 -0.16619897] [ 0.00417465 -0.00388879 0.99998372 -0.7396602 ] [ 0. 0. 0. 1. ]] SLAMing on 60.157193469999996 meters Centerline goodness [0,1] 0.9213414889605764 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.74 [[ 0.99987033 0.01558205 -0.00406513 2.63352033] [-0.01555366 0.99985506 0.00692463 -0.16320524] [ 0.00417244 -0.0068605 0.99996776 -0.73955665] [ 0. 0. 0. 1. ]] SLAMing on 60.18719347 meters Centerline goodness [0,1] 0.92112782586772 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.74 [[ 0.99980159 0.01944411 -0.00432585 2.63465061] [-0.01939952 0.99976058 0.01012143 -0.16040456] [ 0.00452162 -0.01003551 0.99993942 -0.74013817] [ 0. 0. 0. 1. ]] SLAMing on 60.21719347 meters Centerline goodness [0,1] 0.9212918359653165 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.16, Z:-0.74 [[ 0.99973782 0.02239069 -0.00478969 2.63709812] [-0.02232937 0.99967259 0.0124942 -0.1579153 ] [ 0.00506788 -0.01238398 0.99991047 -0.74185287] [ 0. 0. 0. 1. ]] SLAMing on 60.24719346999999 meters Centerline goodness [0,1] 0.9216405398608434 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.16, Z:-0.74 [[ 0.9997263 0.02281598 -0.00517354 2.63892975] [-0.02275241 0.99966875 0.01202951 -0.15546583] [ 0.00544629 -0.0119085 0.99991426 -0.74323908] [ 0. 0. 0. 1. ]] SLAMing on 60.27719346999999 meters Centerline goodness [0,1] 0.9215004919302505 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.75 [[ 0.99965096 0.02584605 -0.00547113 2.64120834] [-0.0257646 0.99956333 0.0144686 -0.1532206 ] [ 0.0058427 -0.01432259 0.99988036 -0.74515332] [ 0. 0. 0. 1. ]] SLAMing on 60.307193469999994 meters Centerline goodness [0,1] 0.9207227293761305 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.75 [[ 0.99973213 0.02237555 -0.0059167 2.64213593] [-0.02231475 0.99969947 0.01015012 -0.15072745] [ 0.00614203 -0.01001537 0.99993098 -0.74534319] [ 0. 0. 0. 1. ]] SLAMing on 60.337193469999995 meters Centerline goodness [0,1] 0.91954797028557 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.75 [[ 0.99980574 0.01860789 -0.00649892 2.64364107] [-0.01856925 0.99980983 0.00595628 -0.14984421] [ 0.00660852 -0.00583445 0.99996114 -0.74597624] [ 0. 0. 0. 1. ]] SLAMing on 60.36719347 meters Centerline goodness [0,1] 0.9167140480552572 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.75 [[ 9.99865701e-01 1.48311760e-02 -6.97259238e-03 2.64496233e+00] [-1.48174172e-02 9.99888174e-01 2.02079795e-03 -1.50203479e-01] [ 7.00178347e-03 -1.91721075e-03 9.99973649e-01 -7.46622569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39719347 meters Centerline goodness [0,1] 0.9197862087831156 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.15, Z:-0.75 [[ 9.99908769e-01 1.13817568e-02 -7.27384649e-03 2.64528298e+00] [-1.13860997e-02 9.99935022e-01 -5.55921304e-04 -1.54697575e-01] [ 7.26704649e-03 6.38691328e-04 9.99973391e-01 -7.46315729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42719346999999 meters Centerline goodness [0,1] 0.9203584500820396 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.16, Z:-0.74 [[ 0.99993206 0.00927284 -0.00706363 2.64379938] [-0.00929205 0.9999532 -0.00269209 -0.15585331] [ 0.00703834 0.00275754 0.99997143 -0.74470314] [ 0. 0. 0. 1. ]] SLAMing on 60.45719346999999 meters Centerline goodness [0,1] 0.9221974696313732 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.16, Z:-0.74 [[ 9.99928993e-01 9.44399118e-03 -7.26778640e-03 2.64378621e+00] [-9.46021093e-03 9.99952830e-01 -2.20059798e-03 -1.57380788e-01] [ 7.24666115e-03 2.26919651e-03 9.99971168e-01 -7.43997115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487193469999994 meters Centerline goodness [0,1] 0.9255180530452692 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.16, Z:-0.74 [[ 9.99901247e-01 1.22793110e-02 -6.83480951e-03 2.64206254e+00] [-1.22760812e-02 9.99924514e-01 5.14301989e-04 -1.60432296e-01] [ 6.84060885e-03 -4.30346523e-04 9.99976510e-01 -7.42282957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517193469999995 meters Centerline goodness [0,1] 0.9265202350685616 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.16, Z:-0.75 [[ 9.99910757e-01 1.33076495e-02 -1.17632739e-03 2.65452739e+00] [-1.32976595e-02 9.99878551e-01 8.12745291e-03 -1.63808761e-01] [ 1.28434182e-03 -8.11108520e-03 9.99966280e-01 -7.45534463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.547193469999996 meters Centerline goodness [0,1] 0.9320138234370091 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.17, Z:-0.75 [[ 9.99895053e-01 1.44293208e-02 -1.29539928e-03 2.65517148e+00] [-1.44169535e-02 9.99854692e-01 9.09649568e-03 -1.66222190e-01] [ 1.42646730e-03 -9.07686532e-03 9.99957787e-01 -7.45904099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57719347 meters Centerline goodness [0,1] 0.9311641903328944 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.17, Z:-0.75 [[ 9.99877559e-01 1.55908964e-02 -1.33835162e-03 2.65618499e+00] [-1.55765179e-02 9.99827114e-01 1.01544687e-02 -1.68600179e-01] [ 1.49643750e-03 -1.01323785e-02 9.99947546e-01 -7.46939038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60719346999999 meters Centerline goodness [0,1] 0.9174437163978495 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.17, Z:-0.75 [[ 9.99819961e-01 1.89278307e-02 -1.33493471e-03 2.65826226e+00] [-1.89082368e-02 9.99731200e-01 1.34166465e-02 -1.72733267e-01] [ 1.58852390e-03 -1.33889897e-02 9.99909102e-01 -7.49270022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63719346999999 meters Centerline goodness [0,1] 0.9173395575742282 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.17, Z:-0.75 [[ 9.99806705e-01 1.96049897e-02 -1.48243749e-03 2.65927717e+00] [-1.95817409e-02 9.99705413e-01 1.43402323e-02 -1.74720411e-01] [ 1.76314089e-03 -1.43084317e-02 9.99896075e-01 -7.50095329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667193469999994 meters Centerline goodness [0,1] 0.8954834671951601 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.18, Z:-0.75 [[ 9.99831626e-01 1.82296574e-02 -2.09754667e-03 2.66190770e+00] [-1.82012454e-02 9.99751777e-01 1.28490976e-02 -1.76877044e-01] [ 2.33126066e-03 -1.28087562e-02 9.99915247e-01 -7.51824347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697193469999995 meters Centerline goodness [0,1] 0.9033579204714044 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.18, Z:-0.75 [[ 9.99879583e-01 1.53338316e-02 -2.38583343e-03 2.66305072e+00] [-1.53088151e-02 9.99831067e-01 1.01723753e-02 -1.79982878e-01] [ 2.54141188e-03 -1.01346261e-02 9.99945414e-01 -7.52585564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727193469999996 meters Centerline goodness [0,1] 0.8828044713827311 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.19, Z:-0.75 [[ 9.99943559e-01 1.03702756e-02 -2.30989640e-03 2.66318317e+00] [-1.03559482e-02 9.99927583e-01 6.13051802e-03 -1.89599190e-01] [ 2.37330429e-03 -6.10625084e-03 9.99978540e-01 -7.52802623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75719347 meters Centerline goodness [0,1] 0.9090414740760882 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.19, Z:-0.75 [[ 9.99971300e-01 7.14891716e-03 -2.50839646e-03 2.66383547e+00] [-7.13965369e-03 9.99967731e-01 3.68270518e-03 -1.94145574e-01] [ 2.53464287e-03 -3.66469041e-03 9.99990073e-01 -7.53041185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78719347 meters Centerline goodness [0,1] 0.9139818645271823 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.20, Z:-0.75 [[ 9.99993153e-01 2.83985777e-03 -2.37261107e-03 2.66321201e+00] [-2.83762354e-03 9.99995528e-01 9.44508835e-04 -2.04938364e-01] [ 2.37528273e-03 -9.37769791e-04 9.99996739e-01 -7.52208367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81719346999999 meters Centerline goodness [0,1] 0.9190426201973546 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.21, Z:-0.75 [[ 9.99996695e-01 4.98454500e-04 -2.52217933e-03 2.66336925e+00] [-4.99821296e-04 9.99999729e-01 -5.41309404e-04 -2.10484603e-01] [ 2.52190883e-03 5.42568254e-04 9.99996673e-01 -7.51959055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84719346999999 meters Centerline goodness [0,1] 0.9197290856641164 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.22, Z:-0.75 [[ 9.99994673e-01 -1.51847342e-03 -2.88938026e-03 2.66508281e+00] [ 1.51413113e-03 9.99997722e-01 -1.50444091e-03 -2.17173325e-01] [ 2.89165813e-03 1.50005799e-03 9.99994694e-01 -7.53049023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.877193469999995 meters Centerline goodness [0,1] 0.9245409434475828 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.22, Z:-0.75 [[ 9.99987957e-01 -3.83971303e-03 -3.05662986e-03 2.66620617e+00] [ 3.83192134e-03 9.99989405e-01 -2.55090046e-03 -2.24401252e-01] [ 3.06639220e-03 2.53915698e-03 9.99992075e-01 -7.53871958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.907193469999996 meters Centerline goodness [0,1] 0.9275140163366441 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.24, Z:-0.76 [[ 0.99995839 -0.00828058 -0.00382627 2.66951814] [ 0.00826443 0.99995696 -0.00421645 -0.23664545] [ 0.00386102 0.00418466 0.99998379 -0.75644659] [ 0. 0. 0. 1. ]] SLAMing on 60.93719347 meters Centerline goodness [0,1] 0.9269416916340171 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.24, Z:-0.76 [[ 0.99993783 -0.01028714 -0.00430334 2.67217313] [ 0.01026525 0.99993441 -0.00507889 -0.24245229] [ 0.0043553 0.00503439 0.99997784 -0.75841579] [ 0. 0. 0. 1. ]] SLAMing on 60.96719347 meters Centerline goodness [0,1] 0.9237562555195761 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.25, Z:-0.76 [[ 0.99990731 -0.01277346 -0.00471219 2.6744806 ] [ 0.01274395 0.99989932 -0.00623968 -0.24921553] [ 0.00479141 0.00617905 0.99996943 -0.76017014] [ 0. 0. 0. 1. ]] SLAMing on 60.99719346999999 meters Centerline goodness [0,1] 0.9249680380609058 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.26, Z:-0.76 [[ 0.99986807 -0.0154295 -0.00507705 2.67664687] [ 0.0153924 0.99985513 -0.00726571 -0.25753804] [ 0.00518842 0.0071866 0.99996072 -0.76173467] [ 0. 0. 0. 1. ]] SLAMing on 61.02719346999999 meters Centerline goodness [0,1] 0.9239993279852157 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.27, Z:-0.76 [[ 0.99970649 -0.02334135 -0.00648932 2.67902227] [ 0.02330336 0.99971122 -0.00586848 -0.27467019] [ 0.00662443 0.00571554 0.99996172 -0.75832851] [ 0. 0. 0. 1. ]] SLAMing on 61.057193469999994 meters Centerline goodness [0,1] 0.9233708431306684 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.28, Z:-0.76 [[ 0.99962074 -0.02672889 -0.00662858 2.67919077] [ 0.02667808 0.99961489 -0.00763918 -0.28114877] [ 0.00683022 0.00745944 0.99994885 -0.75760268] [ 0. 0. 0. 1. ]] SLAMing on 61.087193469999995 meters Centerline goodness [0,1] 0.9224671992657641 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.29, Z:-0.76 [[ 0.99952363 -0.03010084 -0.00681561 2.67950567] [ 0.03003418 0.99950201 -0.00967915 -0.28642629] [ 0.00710357 0.00946984 0.99992993 -0.75694058] [ 0. 0. 0. 1. ]] SLAMing on 61.11719347 meters Centerline goodness [0,1] 0.9213321068695907 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.30, Z:-0.75 [[ 0.99940588 -0.03390389 -0.00619826 2.67784517] [ 0.03386266 0.99940444 -0.00664002 -0.29750663] [ 0.00641969 0.00642619 0.99995875 -0.75070735] [ 0. 0. 0. 1. ]] SLAMing on 61.14719347 meters Centerline goodness [0,1] 0.9278153484269333 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.30, Z:-0.75 [[ 0.99942842 -0.03323498 -0.00618543 2.67665343] [ 0.03320614 0.99943743 -0.00470847 -0.30309124] [ 0.00633843 0.00450038 0.99996978 -0.74864457] [ 0. 0. 0. 1. ]] SLAMing on 61.17719346999999 meters Centerline goodness [0,1] 0.928804279684039 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.31, Z:-0.75 [[ 0.99944157 -0.03278738 -0.00644434 2.67657928] [ 0.03276732 0.9994579 -0.00319459 -0.30833439] [ 0.00654559 0.00298164 0.99997413 -0.74746563] [ 0. 0. 0. 1. ]] SLAMing on 61.20719346999999 meters Centerline goodness [0,1] 0.9330302903347438 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.31, Z:-0.75 [[ 9.99457250e-01 -3.22891969e-02 -6.52783425e-03 2.67655756e+00] [ 3.22773468e-02 9.99477121e-01 -1.91263221e-03 -3.12167943e-01] [ 6.58617833e-03 1.70089296e-03 9.99976864e-01 -7.46927037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237193469999994 meters Centerline goodness [0,1] 0.9329247887559609 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.31, Z:-0.75 [[ 9.99460223e-01 -3.21388749e-02 -6.80846749e-03 2.67765091e+00] [ 3.21296681e-02 9.99482646e-01 -1.45737618e-03 -3.13214505e-01] [ 6.85178353e-03 1.23783572e-03 9.99975760e-01 -7.47573930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267193469999995 meters Centerline goodness [0,1] 0.9291602861278345 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.31, Z:-0.75 [[ 9.99564316e-01 -2.86377378e-02 -7.14555544e-03 2.67917995e+00] [ 2.86564837e-02 9.99586104e-01 2.53497774e-03 -3.13102370e-01] [ 7.07000189e-03 -2.73863978e-03 9.99971257e-01 -7.48971771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297193469999996 meters Centerline goodness [0,1] 0.931061823189434 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.31, Z:-0.75 [[ 0.99958825 -0.02754916 -0.00802391 2.68315936] [ 0.02757971 0.99961268 0.00372155 -0.31362237] [ 0.00791827 -0.00394132 0.99996088 -0.75188497] [ 0. 0. 0. 1. ]] SLAMing on 61.32719347 meters Centerline goodness [0,1] 0.9277632542089302 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.75 [[ 0.99961568 -0.02635219 -0.00860586 2.68549283] [ 0.02639632 0.99963877 0.00505527 -0.31516951] [ 0.00846954 -0.00528049 0.99995019 -0.75331946] [ 0. 0. 0. 1. ]] SLAMing on 61.35719346999999 meters Centerline goodness [0,1] 0.9300176426111064 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.75 [[ 0.99962656 -0.02586924 -0.00880487 2.68619052] [ 0.02591861 0.99964871 0.00553919 -0.31604124] [ 0.00865849 -0.00576533 0.99994589 -0.75366577] [ 0. 0. 0. 1. ]] SLAMing on 61.38719346999999 meters Centerline goodness [0,1] 0.9278124543348016 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.76 [[ 0.99965646 -0.02431874 -0.00977514 2.68931763] [ 0.02438683 0.99967873 0.00690794 -0.31711464] [ 0.009604 -0.00714395 0.99992836 -0.75539301] [ 0. 0. 0. 1. ]] SLAMing on 61.417193469999994 meters Centerline goodness [0,1] 0.9267094508434893 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.76 [[ 0.9996814 -0.02298135 -0.01043807 2.69188574] [ 0.02306699 0.99970062 0.00816011 -0.31721109] [ 0.01024742 -0.00839828 0.99991223 -0.75698522] [ 0. 0. 0. 1. ]] SLAMing on 61.447193469999995 meters Centerline goodness [0,1] 0.9290592363781546 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.32, Z:-0.76 [[ 0.99969507 -0.02226406 -0.01068078 2.69270113] [ 0.02235546 0.99971381 0.00851648 -0.31568295] [ 0.01048811 -0.00875265 0.99990669 -0.75744549] [ 0. 0. 0. 1. ]] SLAMing on 61.477193469999996 meters Centerline goodness [0,1] 0.9297788790659582 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.31, Z:-0.76 [[ 0.99975338 -0.01916351 -0.01122218 2.69456667] [ 0.01929412 0.99974599 0.01164835 -0.31474329] [ 0.0109961 -0.011862 0.99986918 -0.75850709] [ 0. 0. 0. 1. ]] SLAMing on 61.50719347 meters Centerline goodness [0,1] 0.9331508909732813 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.31, Z:-0.76 [[ 0.9998928 -0.01260301 -0.00745385 2.70171566] [ 0.01265133 0.99989902 0.00647195 -0.3138973 ] [ 0.00737153 -0.00656556 0.99995128 -0.75817954] [ 0. 0. 0. 1. ]] SLAMing on 61.53719347 meters Centerline goodness [0,1] 0.932062152792281 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.31, Z:-0.76 [[ 0.99990266 -0.01151498 -0.00787874 2.70210625] [ 0.01157259 0.99990635 0.00730514 -0.31491127] [ 0.00779388 -0.00739561 0.99994228 -0.75760027] [ 0. 0. 0. 1. ]] SLAMing on 61.56719346999999 meters Centerline goodness [0,1] 0.9315308915400848 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.32, Z:-0.76 [[ 0.99990992 -0.01063693 -0.00818637 2.70315673] [ 0.01070252 0.99991064 0.00801109 -0.31587294] [ 0.00810042 -0.00809798 0.9999344 -0.75812522] [ 0. 0. 0. 1. ]] SLAMing on 61.59719346999999 meters Centerline goodness [0,1] 0.9306752573006443 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.32, Z:-0.76 [[ 0.99991935 -0.00906421 -0.00889562 2.70610602] [ 0.00914935 0.99991228 0.00957739 -0.31708736] [ 0.00880803 -0.00965801 0.99991457 -0.76006884] [ 0. 0. 0. 1. ]] SLAMing on 61.627193469999995 meters Centerline goodness [0,1] 0.9271114458461474 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.32, Z:-0.76 [[ 0.9999328 -0.00662428 -0.00951383 2.70858098] [ 0.00674025 0.99990274 0.01220971 -0.319178 ] [ 0.00943203 -0.01227302 0.9998802 -0.76157233] [ 0. 0. 0. 1. ]] SLAMing on 61.657193469999996 meters Centerline goodness [0,1] 0.930623905246476 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.32, Z:-0.76 [[ 0.999969 -0.00436594 -0.00655278 2.71632109] [ 0.00438853 0.99998446 0.00343691 -0.31922138] [ 0.00653767 -0.00346556 0.99997262 -0.76136389] [ 0. 0. 0. 1. ]] SLAMing on 61.68719347 meters Centerline goodness [0,1] 0.9300841676636652 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.32, Z:-0.76 [[ 0.9999699 -0.00401291 -0.00664041 2.71606262] [ 0.00404095 0.99998295 0.00421482 -0.32098821] [ 0.00662338 -0.00424153 0.99996907 -0.76061454] [ 0. 0. 0. 1. ]] SLAMing on 61.71719347 meters Centerline goodness [0,1] 0.9292797987210399 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.33, Z:-0.76 [[ 0.99996189 -0.00612567 -0.00622078 2.71395934] [ 0.00614286 0.99997736 0.00274734 -0.3257661 ] [ 0.00620381 -0.00278545 0.99997688 -0.7586053 ] [ 0. 0. 0. 1. ]] SLAMing on 61.74719346999999 meters Centerline goodness [0,1] 0.9297654664518693 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.33, Z:-0.76 [[ 0.99996307 -0.00592128 -0.00622932 2.71405496] [ 0.00594328 0.99997614 0.0035195 -0.3288005 ] [ 0.00620834 -0.0035564 0.9999744 -0.7584275 ] [ 0. 0. 0. 1. ]] SLAMing on 61.77719346999999 meters Centerline goodness [0,1] 0.9321269801515246 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.33, Z:-0.76 [[ 0.99996197 -0.00584626 -0.00647202 2.71503721] [ 0.00587211 0.99997482 0.00398369 -0.33074263] [ 0.00644856 -0.00402154 0.99997112 -0.75891633] [ 0. 0. 0. 1. ]] SLAMing on 61.807193469999994 meters Centerline goodness [0,1] 0.9297867892976589 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.33, Z:-0.76 [[ 0.99996254 -0.00563776 -0.00656702 2.71570512] [ 0.00566687 0.99997417 0.00442217 -0.33189239] [ 0.00654192 -0.00445922 0.99996866 -0.75942616] [ 0. 0. 0. 1. ]] SLAMing on 61.837193469999995 meters Centerline goodness [0,1] 0.9282611419740194 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.33, Z:-0.76 [[ 0.99996519 -0.0051218 -0.00658692 2.71658757] [ 0.00515567 0.99997352 0.00513529 -0.33338199] [ 0.00656044 -0.00516907 0.99996512 -0.76046951] [ 0. 0. 0. 1. ]] SLAMing on 61.86719347 meters Centerline goodness [0,1] 0.9265544989027067 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.33, Z:-0.76 [[ 0.99996532 -0.00492426 -0.00671647 2.71740132] [ 0.00496166 0.99997222 0.00556328 -0.33461491] [ 0.00668888 -0.00559641 0.99996197 -0.76109021] [ 0. 0. 0. 1. ]] SLAMing on 61.89719347 meters Centerline goodness [0,1] 0.9265544989027067 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.33, Z:-0.76 [[ 0.99996532 -0.00492426 -0.00671647 2.71740132] [ 0.00496166 0.99997222 0.00556328 -0.33461491] [ 0.00668888 -0.00559641 0.99996197 -0.76109021] [ 0. 0. 0. 1. ]] SLAMing on 61.92719346999999 meters Centerline goodness [0,1] 0.9256531318854265 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.34, Z:-0.76 [[ 0.99996506 -0.0046941 -0.00691758 2.7181203 ] [ 0.00473704 0.99996954 0.00620337 -0.33679552] [ 0.00688825 -0.00623592 0.99995683 -0.7614438 ] [ 0. 0. 0. 1. ]] SLAMing on 61.95719346999999 meters Centerline goodness [0,1] 0.9251126126126126 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.34, Z:-0.76 [[ 0.99995344 -0.00580154 -0.00771056 2.72109069] [ 0.00584381 0.99996796 0.00547125 -0.33879793] [ 0.00767857 -0.00551606 0.99995531 -0.76314735] [ 0. 0. 0. 1. ]] SLAMing on 61.987193469999994 meters Centerline goodness [0,1] 0.9293304771505376 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.35, Z:-0.76 [[ 0.99992591 -0.00925929 -0.00790212 2.72221571] [ 0.00928652 0.99995104 0.0034169 -0.3451003 ] [ 0.0078701 -0.00349003 0.99996294 -0.76384265] [ 0. 0. 0. 1. ]] SLAMing on 62.017193469999995 meters Centerline goodness [0,1] 0.9294384476458482 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.35, Z:-0.76 [[ 9.99884927e-01 -1.28023684e-02 -8.13830803e-03 2.72322149e+00] [ 1.28071338e-02 9.99917843e-01 5.33706585e-04 -3.48268766e-01] [ 8.13080671e-03 -6.37873569e-04 9.99966741e-01 -7.64321604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047193469999996 meters Centerline goodness [0,1] 0.9299968523764558 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.35, Z:-0.76 [[ 9.99880894e-01 -1.29268728e-02 -8.43167251e-03 2.72410839e+00] [ 1.29428227e-02 9.99914545e-01 1.83985004e-03 -3.53572783e-01] [ 8.40716848e-03 -1.94876055e-03 9.99962760e-01 -7.64330334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07719347 meters Centerline goodness [0,1] 0.9317915200268141 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.36, Z:-0.76 [[ 9.99831453e-01 -1.61779581e-02 -8.67978529e-03 2.72470716e+00] [ 1.61823805e-02 9.99868960e-01 4.39509698e-04 -3.60744656e-01] [ 8.67153752e-03 -5.79895208e-04 9.99962233e-01 -7.63830275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10719346999999 meters Centerline goodness [0,1] 0.9303874600773239 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.36, Z:-0.76 [[ 9.99831742e-01 -1.61038102e-02 -8.78380941e-03 2.72467695e+00] [ 1.61187403e-02 9.99868753e-01 1.63158528e-03 -3.64129894e-01] [ 8.75638182e-03 -1.77289470e-03 9.99960091e-01 -7.63167706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13719346999999 meters Centerline goodness [0,1] 0.9333725177379403 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.37, Z:-0.76 [[ 9.99828135e-01 -1.61411461e-02 -9.11946668e-03 2.72529000e+00] [ 1.61663655e-02 9.99865674e-01 2.69852625e-03 -3.67457258e-01] [ 9.07468439e-03 -2.84549110e-03 9.99954776e-01 -7.62732104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167193469999994 meters Centerline goodness [0,1] 0.9290649470290189 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.37, Z:-0.76 [[ 9.99801672e-01 -1.73143360e-02 -9.84021657e-03 2.72679267e+00] [ 1.73370435e-02 9.99847222e-01 2.22701321e-03 -3.70943758e-01] [ 9.80015395e-03 -2.39717179e-03 9.99949104e-01 -7.62594057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197193469999995 meters Centerline goodness [0,1] 0.9306106181696139 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.38, Z:-0.76 [[ 9.99735497e-01 -2.08144207e-02 -9.78240833e-03 2.72611765e+00] [ 2.08176921e-02 9.99783261e-01 2.32698831e-04 -3.78306016e-01] [ 9.77544461e-03 -4.36284446e-04 9.99952124e-01 -7.61082592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227193469999996 meters Centerline goodness [0,1] 0.9325428415804249 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.38, Z:-0.76 [[ 9.99727568e-01 -2.10532097e-02 -1.00773195e-02 2.72667915e+00] [ 2.10616128e-02 9.99777914e-01 7.28448334e-04 -3.80299415e-01] [ 1.00597453e-02 -9.40494482e-04 9.99948957e-01 -7.60763334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25719347 meters Centerline goodness [0,1] 0.933427939396469 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.38, Z:-0.76 [[ 9.99717161e-01 -2.13695291e-02 -1.04374995e-02 2.72712105e+00] [ 2.13805689e-02 9.99770961e-01 9.47250289e-04 -3.80872770e-01] [ 1.04148666e-02 -1.17014205e-03 9.99945079e-01 -7.60189478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28719347 meters Centerline goodness [0,1] 0.9325080123169736 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.38, Z:-0.76 [[ 9.99708435e-01 -2.16541370e-02 -1.06837966e-02 2.72729023e+00] [ 2.16695207e-02 9.99764309e-01 1.32624697e-03 -3.82020796e-01] [ 1.06525598e-02 -1.55737304e-03 9.99942047e-01 -7.59513897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31719346999999 meters Centerline goodness [0,1] 0.9347681153381391 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.38, Z:-0.76 [[ 9.99609103e-01 -2.57171923e-02 -1.09665957e-02 2.72805972e+00] [ 2.56958078e-02 9.99667631e-01 -2.08645358e-03 -3.84780701e-01] [ 1.10166085e-02 1.80384245e-03 9.99937688e-01 -7.59290498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34719346999999 meters Centerline goodness [0,1] 0.9334938749869124 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.39, Z:-0.76 [[ 9.99605136e-01 -2.57695869e-02 -1.12026707e-02 2.72905390e+00] [ 2.57499243e-02 9.99666618e-01 -1.89589700e-03 -3.85676129e-01] [ 1.12477924e-02 1.60668045e-03 9.99935451e-01 -7.59944166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377193469999995 meters Centerline goodness [0,1] 0.9307905453629456 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.38, Z:-0.76 [[ 9.99652540e-01 -2.35301059e-02 -1.18799588e-02 2.73259129e+00] [ 2.35389931e-02 9.99722734e-01 6.08788080e-04 -3.84112528e-01] [ 1.18623400e-02 -8.88218818e-04 9.99929245e-01 -7.63071181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407193469999996 meters Centerline goodness [0,1] 0.9296598268743057 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.38, Z:-0.76 [[ 9.99680118e-01 -2.18351043e-02 -1.27628512e-02 2.73567336e+00] [ 2.18699231e-02 9.99757457e-01 2.59494641e-03 -3.83651602e-01] [ 1.27030948e-02 -2.87323891e-03 9.99915184e-01 -7.64750023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43719347 meters Centerline goodness [0,1] 0.9299511335752186 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.38, Z:-0.76 [[ 9.99672439e-01 -2.19455249e-02 -1.31684679e-02 2.73665303e+00] [ 2.19788510e-02 9.99755576e-01 2.39137243e-03 -3.82750753e-01] [ 1.31127693e-02 -2.68001690e-03 9.99910432e-01 -7.64989723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46719347 meters Centerline goodness [0,1] 0.9274633036143068 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.38, Z:-0.77 [[ 9.99660835e-01 -2.22048101e-02 -1.36073803e-02 2.73764747e+00] [ 2.22335880e-02 9.99750868e-01 1.96724622e-03 -3.81854962e-01] [ 1.35603079e-02 -2.26911989e-03 9.99905480e-01 -7.65099757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49719346999999 meters Centerline goodness [0,1] 0.9307597655842667 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.38, Z:-0.76 [[ 9.99657739e-01 -2.21967030e-02 -1.38459871e-02 2.73694677e+00] [ 2.22191519e-02 9.99752044e-01 1.46959750e-03 -3.79637218e-01] [ 1.38099337e-02 -1.77674060e-03 9.99903060e-01 -7.63496374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52719346999999 meters Centerline goodness [0,1] 0.9307171456721799 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.38, Z:-0.76 [[ 9.99658008e-01 -2.20728328e-02 -1.40234706e-02 2.73663845e+00] [ 2.20942378e-02 9.99754949e-01 1.37326593e-03 -3.78318348e-01] [ 1.39897223e-02 -1.68263417e-03 9.99900723e-01 -7.62623009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557193469999994 meters Centerline goodness [0,1] 0.9303422622140022 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.38, Z:-0.77 [[ 0.99976973 -0.01923089 -0.00952151 2.749911 ] [ 0.01919711 0.99980914 -0.00362688 -0.37693545] [ 0.00958945 0.00344326 0.99994809 -0.76563225] [ 0. 0. 0. 1. ]] SLAMing on 62.587193469999995 meters Centerline goodness [0,1] 0.9274885882993426 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.38, Z:-0.77 [[ 9.99827687e-01 -1.56548824e-02 -9.97605902e-03 2.75139000e+00] [ 1.56567992e-02 9.99877418e-01 1.14065920e-04 -3.77265430e-01] [ 9.97305045e-03 -2.70239418e-04 9.99950231e-01 -7.66498122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61719347 meters Centerline goodness [0,1] 0.9245353623549957 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.38, Z:-0.77 [[ 9.99854927e-01 -1.31572459e-02 -1.08171756e-02 2.75457961e+00] [ 1.31854281e-02 9.99909847e-01 2.53814456e-03 -3.76119349e-01] [ 1.07828054e-02 -2.68040543e-03 9.99938271e-01 -7.68456746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64719347 meters Centerline goodness [0,1] 0.9237758707723372 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.37, Z:-0.77 [[ 0.99989681 -0.00920593 -0.01102778 2.75518638] [ 0.00927491 0.99993764 0.0062202 -0.37464772] [ 0.01096983 -0.00632184 0.99991985 -0.76879752] [ 0. 0. 0. 1. ]] SLAMing on 62.67719346999999 meters Centerline goodness [0,1] 0.9200184154354832 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.37, Z:-0.77 [[ 9.99968531e-01 -2.81629426e-04 -7.92822863e-03 2.76543384e+00] [ 3.02961064e-04 9.99996337e-01 2.68952069e-03 -3.69373421e-01] [ 7.92744214e-03 -2.69183800e-03 9.99964954e-01 -7.71161431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70719346999999 meters Centerline goodness [0,1] 0.9164125485609257 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.37, Z:-0.77 [[ 9.99965823e-01 4.40251137e-04 -8.25580626e-03 2.76639820e+00] [-4.22842492e-04 9.99997684e-01 2.11028173e-03 -3.66152436e-01] [ 8.25671619e-03 -2.10671870e-03 9.99963694e-01 -7.71876464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737193469999994 meters Centerline goodness [0,1] 0.9153123226037045 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.36, Z:-0.77 [[ 9.99962974e-01 2.12987414e-03 -8.33750390e-03 2.76575015e+00] [-2.10650402e-03 9.99993831e-01 2.81078949e-03 -3.63855252e-01] [ 8.34343909e-03 -2.79312244e-03 9.99961292e-01 -7.71064656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767193469999995 meters Centerline goodness [0,1] 0.9026407489819052 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.36, Z:-0.77 [[ 0.99993862 0.00739735 -0.00824855 2.76431846] [-0.00734117 0.99994979 0.0068208 -0.36190401] [ 0.00829859 -0.00675983 0.99994272 -0.76922501] [ 0. 0. 0. 1. ]] SLAMing on 62.797193469999996 meters Centerline goodness [0,1] 0.9049461641991925 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.36, Z:-0.77 [[ 0.99993528 0.0076908 -0.00838402 2.76423655] [-0.0076359 0.99994933 0.00656025 -0.36058384] [ 0.00843405 -0.00649581 0.99994333 -0.76876498] [ 0. 0. 0. 1. ]] SLAMing on 62.82719347 meters Centerline goodness [0,1] 0.8969784837787863 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.36, Z:-0.77 [[ 0.99993505 0.0075179 -0.00856642 2.7648975 ] [-0.00746628 0.99995387 0.00604203 -0.35910806] [ 0.00861145 -0.00597768 0.99994505 -0.76912699] [ 0. 0. 0. 1. ]] SLAMing on 62.85719346999999 meters Centerline goodness [0,1] 0.9039019467687004 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.36, Z:-0.77 [[ 0.99993433 0.00736732 -0.00877782 2.76532034] [-0.00731652 0.99995638 0.00580543 -0.35816235] [ 0.0088202 -0.00574083 0.99994462 -0.7690674 ] [ 0. 0. 0. 1. ]] SLAMing on 62.88719346999999 meters Centerline goodness [0,1] 0.9034211577685725 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.36, Z:-0.77 [[ 9.99952333e-01 4.53812745e-03 -8.64504343e-03 2.76442876e+00] [-4.51629788e-03 9.99986568e-01 2.54294667e-03 -3.58029879e-01] [ 8.65646753e-03 -2.50378186e-03 9.99959397e-01 -7.68234687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917193469999994 meters Centerline goodness [0,1] 0.9012213995900782 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.36, Z:-0.77 [[ 9.99950279e-01 3.69219497e-03 -9.26326834e-03 2.76657312e+00] [-3.67370858e-03 9.99991228e-01 2.01188852e-03 -3.60060545e-01] [ 9.27061537e-03 -1.97775794e-03 9.99955071e-01 -7.69207575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947193469999995 meters Centerline goodness [0,1] 0.9007007133388044 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.36, Z:-0.77 [[ 9.99958006e-01 1.30217446e-03 -9.07137223e-03 2.76549244e+00] [-1.30487300e-03 9.99999106e-01 -2.91565795e-04 -3.62716161e-01] [ 9.07098445e-03 3.03390540e-04 9.99958812e-01 -7.68294467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977193469999996 meters Centerline goodness [0,1] 0.9044443515344093 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.37, Z:-0.77 [[ 9.99993723e-01 -2.56269677e-03 -2.44692593e-03 2.77252178e+00] [ 2.57413177e-03 9.99985728e-01 4.68155559e-03 -3.70560135e-01] [ 2.43489360e-03 -4.68782491e-03 9.99986048e-01 -7.69495064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00719347 meters Centerline goodness [0,1] 0.9141265503468573 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.37, Z:-0.77 [[ 9.99984721e-01 -5.06317148e-03 -2.21874378e-03 2.77095954e+00] [ 5.06905696e-03 9.99983627e-01 2.65507357e-03 -3.73305564e-01] [ 2.20526436e-03 -2.66627994e-03 9.99994014e-01 -7.67884330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03719347 meters Centerline goodness [0,1] 0.9155080438526484 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.38, Z:-0.77 [[ 9.99984590e-01 -5.02249531e-03 -2.36541561e-03 2.77127543e+00] [ 5.03203911e-03 9.99979153e-01 4.04620150e-03 -3.77661075e-01] [ 2.34504427e-03 -4.05804201e-03 9.99989016e-01 -7.67362870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06719346999999 meters Centerline goodness [0,1] 0.9191082935374221 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.38, Z:-0.77 [[ 9.99969196e-01 -7.24581013e-03 -3.01741974e-03 2.77383672e+00] [ 7.25379791e-03 9.99970193e-01 2.64474619e-03 -3.81356550e-01] [ 2.99816648e-03 -2.66655248e-03 9.99991950e-01 -7.68649781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09719346999999 meters Centerline goodness [0,1] 0.9213085949756312 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.39, Z:-0.77 [[ 9.99902709e-01 -1.35635001e-02 -3.25644651e-03 2.77532529e+00] [ 1.35574015e-02 9.99906313e-01 -1.88761284e-03 -3.90107228e-01] [ 3.28174405e-03 1.84328024e-03 9.99992916e-01 -7.69253325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127193469999995 meters Centerline goodness [0,1] 0.9214342429687826 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.39, Z:-0.77 [[ 0.99984677 -0.01711865 -0.00366018 2.77698153] [ 0.01710235 0.99984389 -0.00443813 -0.39493282] [ 0.00373558 0.00437485 0.99998345 -0.76998093] [ 0. 0. 0. 1. ]] SLAMing on 63.157193469999996 meters Centerline goodness [0,1] 0.9233838120104438 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.40, Z:-0.77 [[ 0.99977926 -0.02061644 -0.00404997 2.77917641] [ 0.02058804 0.999764 -0.00693372 -0.39926375] [ 0.00419197 0.0068488 0.99996776 -0.77135799] [ 0. 0. 0. 1. ]] SLAMing on 63.18719347 meters Centerline goodness [0,1] 0.9207622868605817 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.41, Z:-0.77 [[ 0.99960425 -0.0277556 -0.00458037 2.78359049] [ 0.02769728 0.99954019 -0.01234002 -0.40592746] [ 0.00492077 0.01220827 0.99991337 -0.7749675 ] [ 0. 0. 0. 1. ]] SLAMing on 63.21719347 meters Centerline goodness [0,1] 0.9185242442601375 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.41, Z:-0.78 [[ 0.99956175 -0.02917942 -0.00498662 2.78578932] [ 0.02911454 0.99949638 -0.0126224 -0.40934657] [ 0.00535242 0.01247168 0.9999079 -0.77620145] [ 0. 0. 0. 1. ]] SLAMing on 63.24719346999999 meters Centerline goodness [0,1] 0.9235167678791294 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.41, Z:-0.78 [[ 0.99955473 -0.02936903 -0.00527288 2.78643102] [ 0.02930598 0.99950246 -0.0116612 -0.41260608] [ 0.00561273 0.01150148 0.9999181 -0.77584254] [ 0. 0. 0. 1. ]] SLAMing on 63.27719346999999 meters Centerline goodness [0,1] 0.9266426265252212 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.42, Z:-0.77 [[ 0.99946358 -0.03238227 -0.00489214 2.78427788] [ 0.03231322 0.99938538 -0.01359089 -0.41645858] [ 0.00532924 0.01342552 0.99989567 -0.77311686] [ 0. 0. 0. 1. ]] SLAMing on 63.307193469999994 meters Centerline goodness [0,1] 0.9263003969082932 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.42, Z:-0.77 [[ 0.99945851 -0.03250995 -0.00507796 2.78412891] [ 0.03244276 0.99939167 -0.01279689 -0.41951171] [ 0.0054909 0.01262522 0.99990522 -0.77191057] [ 0. 0. 0. 1. ]] SLAMing on 63.337193469999995 meters Centerline goodness [0,1] 0.9261884904086739 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.42, Z:-0.77 [[ 0.99944465 -0.03289452 -0.00532319 2.78465433] [ 0.03282693 0.9993851 -0.01232138 -0.42186681] [ 0.00572523 0.01213979 0.99990992 -0.77154643] [ 0. 0. 0. 1. ]] SLAMing on 63.36719347 meters Centerline goodness [0,1] 0.9265836038111193 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.42, Z:-0.77 [[ 0.99942463 -0.03344493 -0.00564284 2.78591518] [ 0.03337399 0.99936812 -0.01222888 -0.4230829 ] [ 0.00604827 0.01203352 0.9999093 -0.77212552] [ 0. 0. 0. 1. ]] SLAMing on 63.39719347 meters Centerline goodness [0,1] 0.9241558877876701 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.42, Z:-0.77 [[ 0.99937816 -0.0347409 -0.00603009 2.78831328] [ 0.0346599 0.99931389 -0.01305498 -0.42332187] [ 0.0064795 0.01283786 0.9998966 -0.77395572] [ 0. 0. 0. 1. ]] SLAMing on 63.42719346999999 meters Centerline goodness [0,1] 0.9234108268291665 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.42, Z:-0.77 [[ 0.99937772 -0.03472644 -0.00618463 2.78877395] [ 0.03464237 0.99931237 -0.01321735 -0.42247942] [ 0.00663937 0.01299487 0.99989352 -0.77399318] [ 0. 0. 0. 1. ]] SLAMing on 63.45719346999999 meters Centerline goodness [0,1] 0.9246948790001258 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.42, Z:-0.77 [[ 0.99950408 -0.03084785 -0.00632483 2.78838448] [ 0.03079038 0.99948542 -0.00899183 -0.42295172] [ 0.00659895 0.00879263 0.99993957 -0.7730371 ] [ 0. 0. 0. 1. ]] SLAMing on 63.487193469999994 meters Centerline goodness [0,1] 0.9247512307531162 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.42, Z:-0.77 [[ 0.99961269 -0.02704701 -0.00655268 2.78827908] [ 0.02701443 0.99962248 -0.00501086 -0.42237452] [ 0.00668573 0.0048319 0.99996598 -0.7722323 ] [ 0. 0. 0. 1. ]] SLAMing on 63.517193469999995 meters Centerline goodness [0,1] 0.9266965092575079 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.42, Z:-0.77 [[ 9.99730379e-01 -2.22757749e-02 -6.55439359e-03 2.78684907e+00] [ 2.22726422e-02 9.99751782e-01 -5.50555081e-04 -4.19420100e-01] [ 6.56503071e-03 4.04422976e-04 9.99978368e-01 -7.70458558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547193469999996 meters Centerline goodness [0,1] 0.9256748247344779 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.42, Z:-0.77 [[ 9.99780153e-01 -1.96415108e-02 -7.33875238e-03 2.78924890e+00] [ 1.96574487e-02 9.99804556e-01 2.10595624e-03 -4.18893096e-01] [ 7.29595390e-03 -2.24975440e-03 9.99970853e-01 -7.71597111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57719347 meters Centerline goodness [0,1] 0.9252252814717696 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.42, Z:-0.78 [[ 0.99987828 -0.01518558 -0.00358054 2.80136291] [ 0.01517248 0.9998782 -0.00365811 -0.41778739] [ 0.00363566 0.00360334 0.9999869 -0.77505816] [ 0. 0. 0. 1. ]] SLAMing on 63.60719346999999 meters Centerline goodness [0,1] 0.9237332223493914 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.42, Z:-0.77 [[ 9.99937830e-01 -1.05102059e-02 -3.72437962e-03 2.80115167e+00] [ 1.05111150e-02 9.99944731e-01 2.24605429e-04 -4.15459286e-01] [ 3.72181313e-03 -2.63738848e-04 9.99993039e-01 -7.74553293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63719346999999 meters Centerline goodness [0,1] 0.922085517932864 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.41, Z:-0.77 [[ 0.99997032 -0.00661373 -0.00395166 2.80173255] [ 0.006629 0.99997056 0.00386402 -0.41367256] [ 0.00392599 -0.0038901 0.99998473 -0.77472387] [ 0. 0. 0. 1. ]] SLAMing on 63.667193469999994 meters Centerline goodness [0,1] 0.9201349128687722 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.41, Z:-0.78 [[ 0.99998374 -0.00355282 -0.00445998 2.80386674] [ 0.0035817 0.99997256 0.00648396 -0.41073959] [ 0.00443682 -0.00649983 0.99996903 -0.77623949] [ 0. 0. 0. 1. ]] SLAMing on 63.697193469999995 meters Centerline goodness [0,1] 0.918894047768436 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.41, Z:-0.78 [[ 9.99988115e-01 -4.20602162e-04 -4.85732211e-03 2.80559401e+00] [ 4.64879599e-04 9.99958321e-01 9.11807797e-03 -4.07879988e-01] [ 4.85328458e-03 -9.12022767e-03 9.99946632e-01 -7.77482004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727193469999996 meters Centerline goodness [0,1] 0.9135836321451171 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.40, Z:-0.78 [[ 0.99997876 0.0035579 -0.0054602 2.80724144] [-0.00349298 0.99992363 0.01185502 -0.40451256] [ 0.00550196 -0.0118357 0.99991482 -0.77850031] [ 0. 0. 0. 1. ]] SLAMing on 63.75719347 meters Centerline goodness [0,1] 0.9113173552333864 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.40, Z:-0.78 [[ 9.99984929e-01 4.85037253e-03 -2.57209624e-03 2.81624492e+00] [-4.84756786e-03 9.99987650e-01 1.09553558e-03 -4.02751468e-01] [ 2.57737823e-03 -1.08305066e-03 9.99996092e-01 -7.79821379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78719347 meters Centerline goodness [0,1] 0.9113173552333864 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.40, Z:-0.78 [[ 9.99984929e-01 4.85037253e-03 -2.57209624e-03 2.81624492e+00] [-4.84756786e-03 9.99987650e-01 1.09553558e-03 -4.02751468e-01] [ 2.57737823e-03 -1.08305066e-03 9.99996092e-01 -7.79821379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81719346999999 meters Centerline goodness [0,1] 0.9100889207299085 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.40, Z:-0.78 [[ 9.99992454e-01 2.99167304e-03 -2.47820303e-03 2.81462162e+00] [-2.99430153e-03 9.99994958e-01 -1.05761276e-03 -4.02299626e-01] [ 2.47502651e-03 1.06502526e-03 9.99996370e-01 -7.78086573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84719346999999 meters Centerline goodness [0,1] 0.9117269802552727 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.40, Z:-0.78 [[ 9.99992818e-01 2.56914026e-03 -2.78613839e-03 2.81537157e+00] [-2.57319035e-03 9.99995637e-01 -1.45105147e-03 -4.02048075e-01] [ 2.78239828e-03 1.45821031e-03 9.99995066e-01 -7.78123591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877193469999995 meters Centerline goodness [0,1] 0.9184448991522947 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.40, Z:-0.78 [[ 9.99993513e-01 1.85276133e-03 -3.08897885e-03 2.81670787e+00] [-1.85923932e-03 9.99996076e-01 -2.09557874e-03 -4.00225516e-01] [ 3.08508412e-03 2.10130830e-03 9.99993033e-01 -7.78867842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907193469999996 meters Centerline goodness [0,1] 0.9176408967106642 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.40, Z:-0.78 [[ 9.99993198e-01 1.82315902e-03 -3.20638570e-03 2.81682386e+00] [-1.82929866e-03 9.99996497e-01 -1.91292768e-03 -4.00263480e-01] [ 3.20288689e-03 1.91878010e-03 9.99993030e-01 -7.78578088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93719347 meters Centerline goodness [0,1] 0.9198325550086247 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.40, Z:-0.78 [[ 9.99995961e-01 -3.08817218e-04 -2.82535318e-03 2.81449710e+00] [ 2.97795595e-04 9.99992348e-01 -3.90056110e-03 -4.02337077e-01] [ 2.82653613e-03 3.89970397e-03 9.99988401e-01 -7.76201087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96719347 meters Centerline goodness [0,1] 0.9191713542103938 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.40, Z:-0.78 [[ 9.99995831e-01 -7.50482233e-05 -2.88663449e-03 2.81428847e+00] [ 6.55502520e-05 9.99994585e-01 -3.29028087e-03 -4.04021404e-01] [ 2.88686579e-03 3.29007793e-03 9.99990421e-01 -7.75457875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99719346999999 meters Centerline goodness [0,1] 0.9193645896308033 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.40, Z:-0.78 [[ 9.99995207e-01 1.23671318e-04 -3.09352909e-03 2.81472756e+00] [-1.32693346e-04 9.99995739e-01 -2.91638411e-03 -4.04830486e-01] [ 3.09315524e-03 2.91678062e-03 9.99990962e-01 -7.75265901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02719347 meters Centerline goodness [0,1] 0.9200923211278149 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.41, Z:-0.78 [[ 9.99994573e-01 2.56074432e-04 -3.28443226e-03 2.81541208e+00] [-2.64530877e-04 9.99996651e-01 -2.57452944e-03 -4.05465713e-01] [ 3.28376199e-03 2.57538430e-03 9.99991292e-01 -7.75546421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05719347 meters Centerline goodness [0,1] 0.9189477872955369 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.41, Z:-0.78 [[ 9.99994394e-01 -8.07850345e-05 -3.34739789e-03 2.81589395e+00] [ 7.46726250e-05 9.99998330e-01 -1.82610296e-03 -4.09652255e-01] [ 3.34753983e-03 1.82584277e-03 9.99992730e-01 -7.75513297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08719347 meters Centerline goodness [0,1] 0.9200859873940811 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.41, Z:-0.78 [[ 9.99992563e-01 -9.88035616e-04 -3.72785612e-03 2.81773980e+00] [ 9.80732813e-04 9.99997598e-01 -1.96030194e-03 -4.12360954e-01] [ 3.72978401e-03 1.95663133e-03 9.99991130e-01 -7.76551051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11719347 meters Centerline goodness [0,1] 0.9210839972398218 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.42, Z:-0.78 [[ 9.99991708e-01 -1.37210805e-03 -3.83413778e-03 2.81816094e+00] [ 1.36693071e-03 9.99998151e-01 -1.35262273e-03 -4.15167974e-01] [ 3.83598663e-03 1.34737052e-03 9.99991735e-01 -7.76461218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14719347 meters Centerline goodness [0,1] 0.9221466364323507 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.42, Z:-0.78 [[ 9.99990485e-01 -2.05985454e-03 -3.84532379e-03 2.81843456e+00] [ 2.05655017e-03 9.99997513e-01 -8.63077484e-04 -4.18075279e-01] [ 3.84709204e-03 8.55161171e-04 9.99992234e-01 -7.76209481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17719347 meters Centerline goodness [0,1] 0.9250404420260929 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.42, Z:-0.78 [[ 9.99988198e-01 -2.89389251e-03 -3.90240798e-03 2.81869868e+00] [ 2.89242857e-03 9.99995744e-01 -3.80729702e-04 -4.21423212e-01] [ 3.90349317e-03 3.69437772e-04 9.99992313e-01 -7.75764872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20719347 meters Centerline goodness [0,1] 0.9248107653490328 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.43, Z:-0.78 [[ 0.99995899 -0.00814782 -0.00395358 2.81947147] [ 0.00813166 0.99995859 -0.00408702 -0.42501346] [ 0.00398671 0.0040547 0.99998383 -0.77582541] [ 0. 0. 0. 1. ]] SLAMing on 64.23719347000001 meters Centerline goodness [0,1] 0.9273611810098976 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.43, Z:-0.78 [[ 0.99995372 -0.0086783 -0.00415268 2.82007756] [ 0.00866242 0.99995516 -0.00382704 -0.42682082] [ 0.00418571 0.00379089 0.99998405 -0.7756922 ] [ 0. 0. 0. 1. ]] SLAMing on 64.26719347 meters Centerline goodness [0,1] 0.9275558988705401 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.43, Z:-0.78 [[ 0.99994508 -0.00957351 -0.00426365 2.82049151] [ 0.00955522 0.99994515 -0.00428884 -0.42678126] [ 0.00430447 0.00424786 0.99998171 -0.7753368 ] [ 0. 0. 0. 1. ]] SLAMing on 64.29719347 meters Centerline goodness [0,1] 0.9256524293026769 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.43, Z:-0.78 [[ 9.99970094e-01 -6.32195521e-03 -4.45462986e-03 2.82117806e+00] [ 6.31884573e-03 9.99979783e-01 -7.11762474e-04 -4.26835089e-01] [ 4.45903953e-03 6.83593069e-04 9.99989825e-01 -7.75551036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32719347 meters Centerline goodness [0,1] 0.9250945722824837 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.43, Z:-0.78 [[ 9.99978133e-01 -4.29070307e-03 -5.03216566e-03 2.82404244e+00] [ 4.29762902e-03 9.99989832e-01 1.36633022e-03 -4.25414849e-01] [ 5.02625198e-03 -1.38792673e-03 9.99986405e-01 -7.77572425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35719347 meters Centerline goodness [0,1] 0.9188323917137476 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.42, Z:-0.78 [[ 9.99979292e-01 -2.87966200e-03 -5.75525289e-03 2.82779526e+00] [ 2.89256465e-03 9.99993319e-01 2.23482572e-03 -4.20308808e-01] [ 5.74877890e-03 -2.25142688e-03 9.99980941e-01 -7.80571422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38719347 meters Centerline goodness [0,1] 0.918607337099179 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.42, Z:-0.78 [[ 9.99976216e-01 -3.40854486e-03 -5.99583860e-03 2.82877280e+00] [ 3.41695706e-03 9.99993192e-01 1.39332106e-03 -4.17938838e-01] [ 5.99104858e-03 -1.41377544e-03 9.99981054e-01 -7.81228422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41719347 meters Centerline goodness [0,1] 0.915301982383485 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.42, Z:-0.78 [[ 9.99972133e-01 -4.08503612e-03 -6.24870507e-03 2.82972631e+00] [ 4.08774946e-03 9.99991556e-01 4.21514574e-04 -4.15549704e-01] [ 6.24693041e-03 -4.47045969e-04 9.99980388e-01 -7.81811332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44719347 meters Centerline goodness [0,1] 0.9061757969278614 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.41, Z:-0.78 [[ 9.99963193e-01 -5.58185773e-03 -6.51583549e-03 2.83091099e+00] [ 5.57042281e-03 9.99982915e-01 -1.77177365e-03 -4.09212289e-01] [ 6.52561396e-03 1.73541248e-03 9.99977202e-01 -7.82504104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47719347 meters Centerline goodness [0,1] 0.9052508066881784 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.41, Z:-0.78 [[ 9.99969981e-01 -3.80379496e-03 -6.75046100e-03 2.83276285e+00] [ 3.80492346e-03 9.99992749e-01 1.54339006e-04 -4.07097968e-01] [ 6.74982498e-03 -1.80019361e-04 9.99977203e-01 -7.83771568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50719347 meters Centerline goodness [0,1] 0.8856952567277874 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.40, Z:-0.78 [[ 9.99964074e-01 -4.66712194e-03 -7.07592478e-03 2.83345003e+00] [ 4.65837026e-03 9.99988365e-01 -1.25280244e-03 -4.03423759e-01] [ 7.08168943e-03 1.21979516e-03 9.99974181e-01 -7.83640525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53719347 meters Centerline goodness [0,1] 0.8980670776303417 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.40, Z:-0.78 [[ 9.99960737e-01 -5.15210004e-03 -7.20975243e-03 2.83336046e+00] [ 5.13480399e-03 9.99983900e-01 -2.41543749e-03 -3.99699244e-01] [ 7.22208093e-03 2.37832198e-03 9.99971092e-01 -7.83045954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56719347 meters Centerline goodness [0,1] 0.8839265091863517 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.39, Z:-0.78 [[ 9.99969775e-01 -2.97753437e-03 -7.18213280e-03 2.83255053e+00] [ 2.96558214e-03 9.99994201e-01 -1.67423787e-03 -3.90843231e-01] [ 7.18707625e-03 1.65288806e-03 9.99972807e-01 -7.81951773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59719347000001 meters Centerline goodness [0,1] 0.9061785377111088 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.39, Z:-0.78 [[ 9.99972308e-01 -4.90360258e-04 -7.42583437e-03 2.83375683e+00] [ 4.90139906e-04 9.99999879e-01 -3.14935139e-05 -3.85420350e-01] [ 7.42584892e-03 2.78529440e-05 9.99972428e-01 -7.82725923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62719347000001 meters Centerline goodness [0,1] 0.9112748372015361 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.38, Z:-0.78 [[ 9.99967383e-01 1.88359741e-03 -7.85393943e-03 2.83538151e+00] [-1.87262681e-03 9.99997261e-01 1.40394773e-03 -3.79734581e-01] [ 7.85656239e-03 -1.38919444e-03 9.99968172e-01 -7.83563890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65719347 meters Centerline goodness [0,1] 0.9135215828094447 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.37, Z:-0.78 [[ 9.99957513e-01 4.64942244e-03 -7.95952989e-03 2.83527756e+00] [-4.63589295e-03 9.99987779e-01 1.71739223e-03 -3.69374008e-01] [ 7.96741750e-03 -1.68041974e-03 9.99966848e-01 -7.83138863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68719347 meters Centerline goodness [0,1] 0.9162322374506012 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.36, Z:-0.78 [[ 9.99958827e-01 4.00765453e-03 -8.14149702e-03 2.83595266e+00] [-4.01122910e-03 9.99991866e-01 -4.22774297e-04 -3.63453148e-01] [ 8.13973646e-03 4.55414300e-04 9.99966768e-01 -7.83468485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71719347 meters Centerline goodness [0,1] 0.9186640965471002 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.36, Z:-0.78 [[ 9.99943079e-01 6.68616388e-03 -8.31466549e-03 2.83703316e+00] [-6.67560166e-03 9.99976876e-01 1.29741766e-03 -3.58402971e-01] [ 8.32314797e-03 -1.24183842e-03 9.99964591e-01 -7.84120936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74719347 meters Centerline goodness [0,1] 0.9169970423510163 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.35, Z:-0.78 [[ 9.99920024e-01 9.39144226e-03 -8.47027408e-03 2.83801975e+00] [-9.36719609e-03 9.99951928e-01 2.89764594e-03 -3.52475864e-01] [ 8.49707998e-03 -2.81807148e-03 9.99959928e-01 -7.84812625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77719347 meters Centerline goodness [0,1] 0.913807899198359 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.34, Z:-0.79 [[ 0.99984574 0.01521847 -0.00876859 2.83949328] [-0.01516306 0.99986486 0.00635199 -0.34108711] [ 0.00886407 -0.00621805 0.99994138 -0.78566413] [ 0. 0. 0. 1. ]] SLAMing on 64.80719347 meters Centerline goodness [0,1] 0.9110985039502437 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.34, Z:-0.79 [[ 0.99978996 0.01836417 -0.00909922 2.84064051] [-0.0182872 0.99979689 0.00847087 -0.33655902] [ 0.00925294 -0.00830269 0.99992272 -0.78605254] [ 0. 0. 0. 1. ]] SLAMing on 64.83719347 meters Centerline goodness [0,1] 0.9089581812493482 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.33, Z:-0.79 [[ 9.99753445e-01 2.18054437e-02 -4.19184444e-03 2.85131352e+00] [-2.18023405e-02 9.99761993e-01 7.84555528e-04 -3.30282384e-01] [ 4.20795434e-03 -6.92970072e-04 9.99990906e-01 -7.89119066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86719347 meters Centerline goodness [0,1] 0.9080953178658179 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.32, Z:-0.79 [[ 0.99946017 0.03254473 -0.00449457 2.85307709] [-0.0325016 0.99942787 0.00935815 -0.32172101] [ 0.00479656 -0.00920702 0.99994611 -0.78984613] [ 0. 0. 0. 1. ]] SLAMing on 64.89719347 meters Centerline goodness [0,1] 0.9045075614762683 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.32, Z:-0.79 [[ 0.9993214 0.03655575 -0.00451866 2.85353991] [-0.0364992 0.9992614 0.01201949 -0.31689981] [ 0.00495471 -0.0118464 0.99991755 -0.78985705] [ 0. 0. 0. 1. ]] SLAMing on 64.92719347 meters Centerline goodness [0,1] 0.905428044898643 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.31, Z:-0.79 [[ 0.99916664 0.04055517 -0.00461632 2.85404713] [-0.04048203 0.99906818 0.01496605 -0.31316549] [ 0.00521897 -0.0147667 0.99987735 -0.78978118] [ 0. 0. 0. 1. ]] SLAMing on 64.95719347 meters Centerline goodness [0,1] 0.9073077083594174 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.31, Z:-0.79 [[ 0.99883994 0.04795948 -0.00432017 2.85353806] [-0.0478565 0.99862456 0.02141808 -0.30893994] [ 0.00534143 -0.02118648 0.99976127 -0.78878037] [ 0. 0. 0. 1. ]] SLAMing on 64.98719347000001 meters Centerline goodness [0,1] 0.9079717287808561 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.31, Z:-0.79 [[ 0.99883756 0.04800754 -0.00433616 2.8533469 ] [-0.04790596 0.99862914 0.02109156 -0.30760085] [ 0.00534277 -0.02085931 0.99976815 -0.78833901] [ 0. 0. 0. 1. ]] SLAMing on 65.01719347 meters Centerline goodness [0,1] 0.9093505239065157 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.31, Z:-0.79 [[ 0.99900107 0.04446513 -0.00444112 2.85310676] [-0.0443839 0.99887051 0.01696384 -0.30623691] [ 0.0051904 -0.01674978 0.99984624 -0.7879746 ] [ 0. 0. 0. 1. ]] SLAMing on 65.04719347 meters Centerline goodness [0,1] 0.9072374282576715 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.31, Z:-0.79 [[ 9.99168408e-01 4.07337971e-02 -1.80300289e-03 2.87074021e+00] [-4.07118825e-02 9.99111838e-01 1.08663473e-02 -3.07314742e-01] [ 2.24402912e-03 -1.07839073e-02 9.99939334e-01 -7.88487276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07719347 meters Centerline goodness [0,1] 0.9071920396338904 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.31, Z:-0.79 [[ 9.99310440e-01 3.70764791e-02 -1.99469832e-03 2.87136365e+00] [-3.70617787e-02 9.99288731e-01 6.96112691e-03 -3.06882688e-01] [ 2.25137363e-03 -6.88239973e-03 9.99973782e-01 -7.89178512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10719347 meters Centerline goodness [0,1] 0.9066510597383053 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.31, Z:-0.79 [[ 9.99387818e-01 3.48687212e-02 -2.85672492e-03 2.87480011e+00] [-3.48547901e-02 9.99380911e-01 4.78929478e-03 -3.08055443e-01] [ 3.02195294e-03 -4.68679231e-03 9.99984451e-01 -7.91717572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13719347 meters Centerline goodness [0,1] 0.9022211036305292 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.31, Z:-0.79 [[ 9.99508640e-01 3.11729917e-02 -3.27456735e-03 2.87646643e+00] [-3.11696836e-02 9.99513549e-01 1.05645934e-03 -3.09100033e-01] [ 3.30590743e-03 -9.53873006e-04 9.99994081e-01 -7.93212993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16719347 meters Centerline goodness [0,1] 0.9001799690285858 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.31, Z:-0.80 [[ 9.99609803e-01 2.76129644e-02 -4.21501204e-03 2.88072744e+00] [-2.76212579e-02 9.99616612e-01 -1.92223255e-03 -3.13599449e-01] [ 4.16031751e-03 2.03790644e-03 9.99989269e-01 -7.96654926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19719347 meters Centerline goodness [0,1] 0.9014072656134963 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.31, Z:-0.80 [[ 9.99632299e-01 2.67116799e-02 -4.66403808e-03 2.88274583e+00] [-2.67228549e-02 9.99640118e-01 -2.35033262e-03 -3.14885980e-01] [ 4.59957825e-03 2.47410482e-03 9.99986361e-01 -7.98134920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22719347 meters Centerline goodness [0,1] 0.899472234487689 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.32, Z:-0.80 [[ 0.99966313 0.02540594 -0.0053079 2.88515503] [-0.02542336 0.99967152 -0.00323977 -0.31582881] [ 0.00522385 0.00337363 0.99998066 -0.79961632] [ 0. 0. 0. 1. ]] SLAMing on 65.25719347 meters Centerline goodness [0,1] 0.8986080189758848 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.32, Z:-0.80 [[ 9.99829399e-01 1.82485740e-02 -2.85682728e-03 2.89520414e+00] [-1.82488124e-02 9.99833475e-01 -5.74078109e-05 -3.21008423e-01] [ 2.85530394e-03 1.09531722e-04 9.99995918e-01 -8.00455652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28719347 meters Centerline goodness [0,1] 0.8967203139098139 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.32, Z:-0.80 [[ 0.99989156 0.01440895 -0.00304109 2.89516851] [-0.01441858 0.99989103 -0.00316893 -0.32450136] [ 0.0029951 0.00321244 0.99999035 -0.79998538] [ 0. 0. 0. 1. ]] SLAMing on 65.31719347 meters Centerline goodness [0,1] 0.8992609389434786 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.33, Z:-0.80 [[ 0.99993929 0.01054579 -0.00319353 2.89524881] [-0.01056529 0.99992526 -0.00615153 -0.32833345] [ 0.00312842 0.0061849 0.99997598 -0.79969774] [ 0. 0. 0. 1. ]] SLAMing on 65.34719347000001 meters Centerline goodness [0,1] 0.8972449427860176 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.33, Z:-0.80 [[ 0.99997195 0.00666846 -0.00341081 2.89594967] [-0.00669963 0.99993513 -0.00921113 -0.33161033] [ 0.00334917 0.00923372 0.99995176 -0.80003253] [ 0. 0. 0. 1. ]] SLAMing on 65.37719347000001 meters Centerline goodness [0,1] 0.8968114486567914 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.34, Z:-0.80 [[ 9.99996536e-01 -2.15595628e-03 -1.51015903e-03 2.89432552e+00] [ 2.15693723e-03 9.99997464e-01 6.48238636e-04 -3.36841234e-01] [ 1.50875763e-03 -6.51493708e-04 9.99998650e-01 -7.99977316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40719347 meters Centerline goodness [0,1] 0.8964546989307822 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99992563e-01 -3.29792689e-03 -1.99930012e-03 2.89597909e+00] [ 3.29903676e-03 9.99994406e-01 5.52089744e-04 -3.38773081e-01] [ 1.99746818e-03 -5.58681403e-04 9.99997849e-01 -8.00691720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43719347 meters Centerline goodness [0,1] 0.8985032252677285 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99989386e-01 -3.99883649e-03 -2.28830552e-03 2.89668431e+00] [ 4.00089542e-03 9.99991595e-01 8.95890941e-04 -3.41190901e-01] [ 2.28470377e-03 -9.05036703e-04 9.99996981e-01 -8.00612485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46719347 meters Centerline goodness [0,1] 0.9021748275281845 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99957349e-01 -8.93763396e-03 -2.32781815e-03 2.89671526e+00] [ 8.93032611e-03 9.99955222e-01 -3.13105629e-03 -3.42579476e-01] [ 2.35569815e-03 3.11013457e-03 9.99992389e-01 -8.00085025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49719347 meters Centerline goodness [0,1] 0.9040489819882158 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99951721e-01 -9.49998539e-03 -2.51123094e-03 2.89705262e+00] [ 9.49176395e-03 9.99949619e-01 -3.26576002e-03 -3.43012457e-01] [ 2.54212909e-03 3.24176634e-03 9.99991514e-01 -7.99809171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52719347 meters Centerline goodness [0,1] 0.9045465910985164 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99945105e-01 -1.01017213e-02 -2.78238989e-03 2.89744300e+00] [ 1.00917451e-02 9.99942681e-01 -3.57648816e-03 -3.42914444e-01] [ 2.81835909e-03 3.54821266e-03 9.99989733e-01 -7.99410450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55719347 meters Centerline goodness [0,1] 0.8990814196242172 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99933405e-01 -1.11939625e-02 -2.80735069e-03 2.89734824e+00] [ 1.11806084e-02 9.99926316e-01 -4.72826957e-03 -3.40168312e-01] [ 2.86007191e-03 4.69656681e-03 9.99984881e-01 -7.98870618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58719347 meters Centerline goodness [0,1] 0.8996048926064478 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99960893e-01 -8.31307950e-03 -3.01756658e-03 2.89830672e+00] [ 8.30803699e-03 9.99964077e-01 -1.67976016e-03 -3.38640577e-01] [ 3.03142216e-03 1.65462442e-03 9.99994036e-01 -7.99531088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61719347 meters Centerline goodness [0,1] 0.8995497853627892 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.34, Z:-0.80 [[ 9.99974941e-01 -6.13417074e-03 -3.53410192e-03 2.90051864e+00] [ 6.13542471e-03 9.99981119e-01 3.44088855e-04 -3.35519957e-01] [ 3.53192450e-03 -3.65763449e-04 9.99993696e-01 -8.01054067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64719347 meters Centerline goodness [0,1] 0.8937216338880484 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.33, Z:-0.80 [[ 9.99984354e-01 -4.29782551e-03 -3.58070020e-03 2.90146756e+00] [ 4.30149952e-03 9.99990229e-01 1.01898949e-03 -3.28391576e-01] [ 3.57628577e-03 -1.03437593e-03 9.99993070e-01 -8.02058328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67719347 meters Centerline goodness [0,1] 0.8929278046727005 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.32, Z:-0.80 [[ 9.99982681e-01 -4.62512841e-03 -3.63958915e-03 2.90188327e+00] [ 4.62442489e-03 9.99989287e-01 -2.01687013e-04 -3.24556450e-01] [ 3.64048299e-03 1.84852513e-04 9.99993356e-01 -8.02418940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70719347 meters Centerline goodness [0,1] 0.8917650525075236 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.32, Z:-0.80 [[ 9.99988528e-01 -2.74599794e-03 -3.92480841e-03 2.90358929e+00] [ 2.75142096e-03 9.99995267e-01 1.37699640e-03 -3.21384896e-01] [ 3.92100861e-03 -1.38777940e-03 9.99991350e-01 -8.03705672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73719347000001 meters Centerline goodness [0,1] 0.8917650525075236 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.32, Z:-0.80 [[ 9.99988528e-01 -2.74599794e-03 -3.92480841e-03 2.90358929e+00] [ 2.75142096e-03 9.99995267e-01 1.37699640e-03 -3.21384896e-01] [ 3.92100861e-03 -1.38777940e-03 9.99991350e-01 -8.03705672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76719347 meters Centerline goodness [0,1] 0.8701265982238457 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.31, Z:-0.80 [[ 9.99989601e-01 -1.79823498e-03 -4.19104591e-03 2.90511950e+00] [ 1.80188881e-03 9.99998000e-01 8.68205157e-04 -3.10224621e-01] [ 4.18947629e-03 -8.75747927e-04 9.99990841e-01 -8.04807767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79719347 meters Centerline goodness [0,1] 0.8900322081398754 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.81 [[ 9.99989261e-01 4.11500420e-04 -4.61614140e-03 2.90714797e+00] [-4.01744642e-04 9.99997685e-01 2.11413368e-03 -3.04053813e-01] [ 4.61700068e-03 -2.11225647e-03 9.99987111e-01 -8.06193002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82719347 meters Centerline goodness [0,1] 0.8991733807680234 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.30, Z:-0.81 [[ 0.99998246 0.00321446 -0.00497554 2.90834684] [-0.00319588 0.99998791 0.0037363 -0.29789699] [ 0.00498749 -0.00372033 0.99998064 -0.80672667] [ 0. 0. 0. 1. ]] SLAMing on 65.85719347 meters Centerline goodness [0,1] 0.9047499319043728 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.29, Z:-0.81 [[ 0.9999679 0.00596124 -0.00535367 2.90969974] [-0.00593326 0.99996873 0.00522791 -0.29185151] [ 0.00538467 -0.00519597 0.999972 -0.80742382] [ 0. 0. 0. 1. ]] SLAMing on 65.88719347 meters Centerline goodness [0,1] 0.9058578278090473 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.28, Z:-0.81 [[ 0.99994847 0.00854162 -0.00548535 2.91037267] [-0.00851581 0.99995264 0.00471214 -0.28038932] [ 0.00552534 -0.00466519 0.99997385 -0.80756546] [ 0. 0. 0. 1. ]] SLAMing on 65.91719347 meters Centerline goodness [0,1] 0.9067851406879002 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.27, Z:-0.81 [[ 0.99995206 0.00812197 -0.00546848 2.91023271] [-0.00810571 0.99996268 0.00298948 -0.27440798] [ 0.00549256 -0.00294501 0.99998058 -0.8072723 ] [ 0. 0. 0. 1. ]] SLAMing on 65.94719347 meters Centerline goodness [0,1] 0.9064660771906299 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.26, Z:-0.80 [[ 0.99992832 0.0109905 -0.00474909 2.90719146] [-0.01096862 0.99992922 0.00461006 -0.26211697] [ 0.00479943 -0.00455764 0.9999781 -0.80448391] [ 0. 0. 0. 1. ]] SLAMing on 65.97719347 meters Centerline goodness [0,1] 0.9053015228001089 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.26, Z:-0.80 [[ 0.99989729 0.01349122 -0.00483648 2.90754842] [-0.01346087 0.99988984 0.00625432 -0.25646635] [ 0.00492032 -0.00618857 0.99996875 -0.80448848] [ 0. 0. 0. 1. ]] SLAMing on 66.00719347 meters Centerline goodness [0,1] 0.902506496772571 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.25, Z:-0.80 [[ 0.9998688 0.01539048 -0.00505152 2.90858026] [-0.01536095 0.999865 0.00583343 -0.2457193 ] [ 0.00514061 -0.00575507 0.99997023 -0.80490273] [ 0. 0. 0. 1. ]] SLAMing on 66.03719347 meters Centerline goodness [0,1] 0.900959202479685 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.24, Z:-0.81 [[ 0.99987714 0.01472042 -0.0053868 2.90981514] [-0.01469991 0.99988463 0.00382619 -0.24009483] [ 0.0054425 -0.00374654 0.99997817 -0.80557503] [ 0. 0. 0. 1. ]] SLAMing on 66.06719347 meters Centerline goodness [0,1] 0.9016253207869974 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.23, Z:-0.81 [[ 9.99880144e-01 1.43961139e-02 -5.69642703e-03 2.91107890e+00] [-1.43834430e-02 9.99894001e-01 2.25911192e-03 -2.34084464e-01] [ 5.72834564e-03 -2.17690692e-03 9.99981223e-01 -8.06301011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09719347000001 meters Centerline goodness [0,1] 0.8991809753461106 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.23, Z:-0.81 [[ 0.99984149 0.01674269 -0.00605654 2.91311007] [-0.01672024 0.99985322 0.00373797 -0.22888167] [ 0.00611824 -0.00363611 0.99997467 -0.80764028] [ 0. 0. 0. 1. ]] SLAMing on 66.12719347000001 meters Centerline goodness [0,1] 0.8928720998408577 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.22, Z:-0.81 [[ 0.99970479 0.02335474 -0.00669979 2.9159679 ] [-0.0233005 0.99969599 0.00806329 -0.22004813] [ 0.00688607 -0.00790481 0.99994505 -0.80925735] [ 0. 0. 0. 1. ]] SLAMing on 66.15719347 meters Centerline goodness [0,1] 0.8916694588708326 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.22, Z:-0.81 [[ 0.99962966 0.02621892 -0.00728726 2.91889608] [-0.02614655 0.99960955 0.00985443 -0.21619879] [ 0.00754279 -0.00966025 0.99992489 -0.81130479] [ 0. 0. 0. 1. ]] SLAMing on 66.18719347 meters Centerline goodness [0,1] 0.8909574468085106 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.21, Z:-0.81 [[ 0.99954382 0.02916059 -0.00786168 2.92197148] [-0.02906653 0.99950755 0.01182342 -0.21283984] [ 0.00820258 -0.01158952 0.9998992 -0.81351094] [ 0. 0. 0. 1. ]] SLAMing on 66.21719347 meters Centerline goodness [0,1] 0.8918444532670247 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.21, Z:-0.82 [[ 0.99943947 0.03243524 -0.00828856 2.92446789] [-0.03231603 0.99937776 0.01413363 -0.20887787] [ 0.00874183 -0.01385785 0.99986576 -0.81524692] [ 0. 0. 0. 1. ]] SLAMing on 66.24719347 meters Centerline goodness [0,1] 0.895874715119075 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.82 [[ 0.99902765 0.04330925 -0.00824981 2.92611536] [-0.04310175 0.99878579 0.02385746 -0.20245789] [ 0.00927304 -0.02347869 0.99968133 -0.81601763] [ 0. 0. 0. 1. ]] SLAMing on 66.27719347 meters Centerline goodness [0,1] 0.8950866266797635 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.82 [[ 0.99899223 0.04411932 -0.00824679 2.92621891] [-0.04391532 0.99875959 0.02346738 -0.19842 ] [ 0.00927192 -0.02308157 0.99969059 -0.81580139] [ 0. 0. 0. 1. ]] SLAMing on 66.30719347 meters Centerline goodness [0,1] 0.8926792828685259 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.82 [[ 0.9989419 0.04583133 -0.00381668 2.93398299] [-0.0457728 0.99885059 0.01422464 -0.19583799] [ 0.00446423 -0.01403489 0.99989154 -0.81639347] [ 0. 0. 0. 1. ]] SLAMing on 66.33719347 meters Centerline goodness [0,1] 0.8893997659254306 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.20, Z:-0.82 [[ 0.99907569 0.04283013 -0.00365312 2.93351687] [-0.04279011 0.99902986 0.01040921 -0.19538254] [ 0.0040954 -0.01024327 0.99993915 -0.81622318] [ 0. 0. 0. 1. ]] SLAMing on 66.36719347 meters Centerline goodness [0,1] 0.8923911449934028 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.19, Z:-0.82 [[ 0.99923316 0.03895949 -0.00390613 2.93397039] [-0.03893429 0.9992217 0.0063329 -0.19477075] [ 0.00414982 -0.00617596 0.99997232 -0.81647948] [ 0. 0. 0. 1. ]] SLAMing on 66.39719347 meters Centerline goodness [0,1] 0.8932324857399553 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.19, Z:-0.82 [[ 9.99376559e-01 3.50463971e-02 -4.27122689e-03 2.93492505e+00] [-3.50356664e-02 9.99382779e-01 2.56177951e-03 -1.94911513e-01] [ 4.35837175e-03 -2.41053711e-03 9.99987597e-01 -8.17088416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42719347 meters Centerline goodness [0,1] 0.8894323217122314 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.81 [[ 9.99682763e-01 2.43033886e-02 -6.61197847e-03 2.94183836e+00] [-2.42874868e-02 9.99701952e-01 2.47477105e-03 -1.99556971e-01] [ 6.67015311e-03 -2.31339762e-03 9.99975078e-01 -8.13222668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45719347 meters Centerline goodness [0,1] 0.8873091763126992 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.20, Z:-0.81 [[ 0.9998349 0.01685793 -0.0067805 2.94117765] [-0.01688696 0.99984838 -0.00424714 -0.20289377] [ 0.00670788 0.00436094 0.99996799 -0.81232528] [ 0. 0. 0. 1. ]] SLAMing on 66.48719347000001 meters Centerline goodness [0,1] 0.8904828332882218 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.81 [[ 9.99966188e-01 8.04427698e-03 -1.70655463e-03 2.94901978e+00] [-8.04771290e-03 9.99965584e-01 -2.01614468e-03 -2.08046563e-01] [ 1.69027747e-03 2.02981037e-03 9.99996511e-01 -8.13258208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51719347 meters Centerline goodness [0,1] 0.89236009528984 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.21, Z:-0.81 [[ 9.99998182e-01 5.74329002e-04 -1.81807856e-03 2.94836158e+00] [-5.90175279e-04 9.99961741e-01 -8.72744320e-03 -2.11644302e-01] [ 1.81299658e-03 8.72850032e-03 9.99960262e-01 -8.12144868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54719347 meters Centerline goodness [0,1] 0.9010404672681978 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.22, Z:-0.82 [[ 9.99964882e-01 -8.36287972e-03 5.44398014e-04 2.94291950e+00] [ 8.36676079e-03 9.99936368e-01 -7.56688652e-03 -2.18020804e-01] [-4.81082411e-04 7.57117564e-03 9.99971223e-01 -8.16179339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57719347 meters Centerline goodness [0,1] 0.9018079214128958 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.22, Z:-0.82 [[ 9.99960872e-01 -8.84394685e-03 1.97300311e-04 2.94417739e+00] [ 8.84512317e-03 9.99935765e-01 -7.08726162e-03 -2.19964396e-01] [-1.34608272e-04 7.08872946e-03 9.99974866e-01 -8.16834827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60719347 meters Centerline goodness [0,1] 0.900692888991229 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.22, Z:-0.82 [[ 9.99958864e-01 -9.07023789e-03 -2.07209169e-05 2.94476168e+00] [ 9.06989319e-03 9.99936233e-01 -6.72809602e-03 -2.21065316e-01] [ 8.17450271e-05 6.72763132e-03 9.99977366e-01 -8.16892785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63719347 meters Centerline goodness [0,1] 0.8966066525539184 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.22, Z:-0.82 [[ 9.99953249e-01 -9.66870055e-03 1.25465445e-04 2.94470252e+00] [ 9.66933193e-03 9.99929933e-01 -6.82883910e-03 -2.21818641e-01] [-5.94306535e-05 6.82973301e-03 9.99976675e-01 -8.16816491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66719347 meters Centerline goodness [0,1] 0.8988620407821112 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.22, Z:-0.82 [[ 9.99950740e-01 -9.92559711e-03 -1.81934916e-06 2.94535607e+00] [ 9.92535032e-03 9.99927136e-01 -6.87094550e-03 -2.22465512e-01] [ 7.00174534e-05 6.87058898e-03 9.99976395e-01 -8.17294212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69719347 meters Centerline goodness [0,1] 0.896221271598725 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.22, Z:-0.82 [[ 9.99947646e-01 -1.02324945e-02 -3.61038623e-05 2.94616460e+00] [ 1.02319977e-02 9.99923578e-01 -6.93863877e-03 -2.23112545e-01] [ 1.07100686e-04 6.93790609e-03 9.99975927e-01 -8.18197403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72719347 meters Centerline goodness [0,1] 0.8702970709553769 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.22, Z:-0.82 [[ 9.99937975e-01 -1.11220151e-02 -5.88922336e-04 2.95035306e+00] [ 1.11171523e-02 9.99908549e-01 -7.70087133e-03 -2.20534561e-01] [ 6.74517685e-04 7.69384654e-03 9.99970174e-01 -8.21918610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75719347 meters Centerline goodness [0,1] 0.8679709148488447 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.22, Z:-0.82 [[ 9.99949611e-01 -9.97901382e-03 -1.09338877e-03 2.95325050e+00] [ 9.97199738e-03 9.99930778e-01 -6.24494623e-03 -2.18358164e-01] [ 1.15563149e-03 6.23372828e-03 9.99979902e-01 -8.24303999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78719347 meters Centerline goodness [0,1] 0.8602071932829274 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.21, Z:-0.83 [[ 9.99921060e-01 -1.24735590e-02 -1.51142878e-03 2.95601292e+00] [ 1.24599386e-02 9.99884447e-01 -8.70872906e-03 -2.13376429e-01] [ 1.61988297e-03 8.68920929e-03 9.99960936e-01 -8.26532355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81719347 meters Centerline goodness [0,1] 0.8152148786382263 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.21, Z:-0.83 [[ 9.99911789e-01 -1.31754907e-02 -1.67950207e-03 2.95668229e+00] [ 1.31591348e-02 9.99869197e-01 -9.40356108e-03 -2.12177464e-01] [ 1.80317892e-03 9.38063079e-03 9.99954375e-01 -8.26905587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84719347000001 meters Centerline goodness [0,1] 0.8026128464952684 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.21, Z:-0.83 [[ 9.99900570e-01 -1.39882245e-02 -1.78300379e-03 2.95733937e+00] [ 1.39691463e-02 9.99849401e-01 -1.02975267e-02 -2.10422201e-01] [ 1.92677939e-03 1.02715958e-02 9.99945389e-01 -8.27342261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87719347000001 meters Centerline goodness [0,1] 0.7925774656692158 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.21, Z:-0.83 [[ 9.99889622e-01 -1.47382722e-02 -1.87831005e-03 2.95774696e+00] [ 1.47162173e-02 9.99828313e-01 -1.12595458e-02 -2.07832830e-01] [ 2.04393382e-03 1.12306614e-02 9.99934845e-01 -8.27458091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90719347 meters Centerline goodness [0,1] 0.7583863324604065 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.20, Z:-0.83 [[ 9.99914243e-01 -1.29676832e-02 -1.82910793e-03 2.95693751e+00] [ 1.29486305e-02 9.99865459e-01 -1.00696225e-02 -1.99910638e-01] [ 1.95944152e-03 1.00450745e-02 9.99947627e-01 -8.26194571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93719347 meters Centerline goodness [0,1] 0.8125328125328125 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.20, Z:-0.83 [[ 9.99949769e-01 -9.84895877e-03 -1.85967572e-03 2.95684895e+00] [ 9.83484884e-03 9.99923885e-01 -7.44984038e-03 -1.96372914e-01] [ 1.93290734e-03 7.43117653e-03 9.99970520e-01 -8.25970443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96719347 meters Centerline goodness [0,1] 0.8449061915666953 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.19, Z:-0.83 [[ 9.99988430e-01 -4.60397038e-03 -1.39415993e-03 2.95555772e+00] [ 4.59911575e-03 9.99983419e-01 -3.46552385e-03 -1.89033018e-01] [ 1.41009198e-03 3.45907185e-03 9.99993023e-01 -8.25008233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99719347 meters Centerline goodness [0,1] 0.8614168960053373 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.19, Z:-0.82 [[ 9.99997730e-01 -1.68147530e-03 -1.30859352e-03 2.95550089e+00] [ 1.67982829e-03 9.99997797e-01 -1.25869153e-03 -1.85177874e-01] [ 1.31070710e-03 1.25649046e-03 9.99998352e-01 -8.24907186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02719347 meters Centerline goodness [0,1] 0.8796596771509403 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.18, Z:-0.83 [[ 9.99997999e-01 1.51416382e-03 -1.30765873e-03 2.95579966e+00] [-1.51285329e-03 9.99998353e-01 1.00260586e-03 -1.80601063e-01] [ 1.30917469e-03 -1.00062556e-03 9.99998642e-01 -8.25035578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05719347 meters Centerline goodness [0,1] 0.9000773621594497 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.17, Z:-0.83 [[ 9.99987754e-01 4.77420107e-03 -1.30320550e-03 2.95632750e+00] [-4.77016506e-03 9.99983871e-01 3.08272483e-03 -1.74689727e-01] [ 1.31790203e-03 -3.07647057e-03 9.99994399e-01 -8.25478198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08719347 meters Centerline goodness [0,1] 0.9110842469465171 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.16, Z:-0.83 [[ 9.99910930e-01 1.31906262e-02 -2.03458973e-03 2.96031376e+00] [-1.31711160e-02 9.99869805e-01 9.32177747e-03 -1.63675643e-01] [ 2.15728491e-03 -9.29414936e-03 9.99954481e-01 -8.28763492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11719347 meters Centerline goodness [0,1] 0.9087078944624049 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.16, Z:-0.83 [[ 9.99870758e-01 1.58878099e-02 -2.45848243e-03 2.96288844e+00] [-1.58601526e-02 9.99814941e-01 1.08876090e-02 -1.59206803e-01] [ 2.63100773e-03 -1.08472100e-02 9.99937706e-01 -8.30817226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14719347 meters Centerline goodness [0,1] 0.9070553619498758 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.16, Z:-0.83 [[ 9.99826953e-01 1.83942694e-02 -2.77766361e-03 2.96527076e+00] [-1.83585612e-02 9.99754870e-01 1.23759251e-02 -1.55522254e-01] [ 3.00462882e-03 -1.23227896e-02 9.99919557e-01 -8.32774956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17719347 meters Centerline goodness [0,1] 0.908570836356099 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.15, Z:-0.83 [[ 0.99972125 0.02331831 0.00369957 2.97355311] [-0.02334463 0.99970127 0.00723874 -0.14684181] [-0.00352967 -0.00732309 0.99996696 -0.83452642] [ 0. 0. 0. 1. ]] SLAMing on 67.20719347 meters Centerline goodness [0,1] 0.9041187260296815 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.83 [[ 0.99972574 0.02313853 0.00361399 2.97322098] [-0.02316026 0.99971321 0.00609078 -0.1424665 ] [-0.00347202 -0.00617281 0.99997492 -0.83364761] [ 0. 0. 0. 1. ]] SLAMing on 67.23719347000001 meters Centerline goodness [0,1] 0.9036456160840911 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.83 [[ 0.9997332 0.02283292 0.00349092 2.97323447] [-0.02284991 0.99972686 0.00490702 -0.13861224] [-0.00337792 -0.00498548 0.99998187 -0.833145 ] [ 0. 0. 0. 1. ]] SLAMing on 67.26719347 meters Centerline goodness [0,1] 0.8991271820448878 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.14, Z:-0.83 [[ 0.99963608 0.02673898 0.00356766 2.97316512] [-0.02676663 0.99961017 0.00794034 -0.13512035] [-0.00335395 -0.00803295 0.99996211 -0.83261853] [ 0. 0. 0. 1. ]] SLAMing on 67.29719347 meters Centerline goodness [0,1] 0.897727982673525 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.83 [[ 0.99962932 0.02700925 0.00342484 2.97374577] [-0.02703432 0.9996064 0.00749665 -0.13317045] [-0.00322102 -0.00758646 0.99996603 -0.83288412] [ 0. 0. 0. 1. ]] SLAMing on 67.32719347 meters Centerline goodness [0,1] 0.893236503265928 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.13, Z:-0.83 [[ 9.99616580e-01 2.75078285e-02 3.16420002e-03 2.97477708e+00] [-2.75305388e-02 9.99593773e-01 7.37279745e-03 -1.32000764e-01] [-2.96010499e-03 -7.45708270e-03 9.99967814e-01 -8.33485119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35719347 meters Centerline goodness [0,1] 0.8924129872297805 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.13, Z:-0.83 [[ 9.99607243e-01 2.78805708e-02 2.83436991e-03 2.97608283e+00] [-2.79005794e-02 9.99584168e-01 7.28348067e-03 -1.31311254e-01] [-2.63012369e-03 -7.35970059e-03 9.99969458e-01 -8.34345219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38719347 meters Centerline goodness [0,1] 0.8932648759209401 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.13, Z:-0.84 [[ 9.99562320e-01 2.94848501e-02 2.41062672e-03 2.97939398e+00] [-2.95049826e-02 9.99525960e-01 8.79264078e-03 -1.32957329e-01] [-2.15023429e-03 -8.85991792e-03 9.99958438e-01 -8.37495098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41719347 meters Centerline goodness [0,1] 0.8935804158116203 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.13, Z:-0.84 [[ 9.99589909e-01 2.85674088e-02 1.97903080e-03 2.98184838e+00] [-2.85821589e-02 9.99560419e-01 7.87580259e-03 -1.33400852e-01] [-1.75316958e-03 -7.92913777e-03 9.99967027e-01 -8.39544431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44719347 meters Centerline goodness [0,1] 0.8949971823930875 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.13, Z:-0.84 [[ 9.99671204e-01 2.55814136e-02 1.75354599e-03 2.98242719e+00] [-2.55889847e-02 9.99662686e-01 4.44045469e-03 -1.33161357e-01] [-1.63936138e-03 -4.48386615e-03 9.99988604e-01 -8.39855918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47719347 meters Centerline goodness [0,1] 0.8913139098925497 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.14, Z:-0.84 [[ 9.99738787e-01 2.27899405e-02 1.72506306e-03 2.98278787e+00] [-2.27929155e-02 9.99738719e-01 1.72504158e-03 -1.36006244e-01] [-1.68529874e-03 -1.76391019e-03 9.99997024e-01 -8.40350519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50719347 meters Centerline goodness [0,1] 0.896820287025691 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.84 [[ 9.99766528e-01 2.15828341e-02 1.03457023e-03 2.98556426e+00] [-2.15835205e-02 9.99766833e-01 6.56951466e-04 -1.37809936e-01] [-1.02015012e-03 -6.79127754e-04 9.99999249e-01 -8.42157670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53719347 meters Centerline goodness [0,1] 0.8935471807869697 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.84 [[ 9.99758297e-01 2.19709859e-02 7.89289567e-04 2.98670633e+00] [-2.19720745e-02 9.99757607e-01 1.39800040e-03 -1.40063708e-01] [-7.58382802e-04 -1.41500483e-03 9.99998711e-01 -8.43008657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56719347 meters Centerline goodness [0,1] 0.8982491329238227 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.84 [[ 9.99812287e-01 1.93673734e-02 5.42995949e-04 2.98748559e+00] [-1.93664838e-02 9.99811175e-01 -1.59828201e-03 -1.40395548e-01] [-5.73847942e-04 1.58746607e-03 9.99998575e-01 -8.43403049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59719347000001 meters Centerline goodness [0,1] 0.8969683059653223 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.84 [[ 9.99838294e-01 1.79821174e-02 -1.72899429e-04 2.98977626e+00] [-1.79825211e-02 9.99834608e-01 -2.71750673e-03 -1.44917493e-01] [ 1.24004308e-04 2.72017646e-03 9.99996293e-01 -8.44636664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62719347000001 meters Centerline goodness [0,1] 0.8969683059653223 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.14, Z:-0.84 [[ 9.99838294e-01 1.79821174e-02 -1.72899429e-04 2.98977626e+00] [-1.79825211e-02 9.99834608e-01 -2.71750673e-03 -1.44917493e-01] [ 1.24004308e-04 2.72017646e-03 9.99996293e-01 -8.44636664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65719347 meters Centerline goodness [0,1] 0.8964895735093786 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.15, Z:-0.84 [[ 9.99865382e-01 1.64076915e-02 7.41845434e-05 2.98820608e+00] [-1.64072465e-02 9.99856896e-01 -4.12183853e-03 -1.47699167e-01] [-1.41803783e-04 4.12006649e-03 9.99991502e-01 -8.43182266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68719347 meters Centerline goodness [0,1] 0.9001232273021575 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.15, Z:-0.84 [[ 9.99897054e-01 1.43364185e-02 -5.90476110e-04 2.99028714e+00] [-1.43396147e-02 9.99880241e-01 -5.82061365e-03 -1.51061777e-01] [ 5.06958642e-04 5.82848164e-03 9.99982886e-01 -8.44262921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71719347 meters Centerline goodness [0,1] 0.904404853902546 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.16, Z:-0.84 [[ 9.99932670e-01 1.15533957e-02 -1.08404259e-03 2.99149934e+00] [-1.15607067e-02 9.99908674e-01 -6.99952131e-03 -1.58707545e-01] [ 1.00307535e-03 7.01158233e-03 9.99974915e-01 -8.44713528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74719347 meters Centerline goodness [0,1] 0.9051272376640255 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.16, Z:-0.84 [[ 9.99936371e-01 1.12222530e-02 -1.14639491e-03 2.99147697e+00] [-1.12291973e-02 9.99917466e-01 -6.24225595e-03 -1.62714372e-01] [ 1.07624812e-03 6.25473186e-03 9.99979860e-01 -8.44476534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77719347 meters Centerline goodness [0,1] 0.9083503479311638 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.17, Z:-0.84 [[ 9.99984467e-01 5.57159345e-03 -1.52782950e-04 3.00079960e+00] [-5.57171105e-03 9.99984173e-01 -7.80389226e-04 -1.65625812e-01] [ 1.48432521e-04 7.81228367e-04 9.99999684e-01 -8.44560039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80719347 meters Centerline goodness [0,1] 0.9118040182114364 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.17, Z:-0.84 [[ 9.99998062e-01 1.95761743e-03 -2.08415891e-04 3.00050522e+00] [-1.95809980e-03 9.99995345e-01 -2.34000336e-03 -1.73195538e-01] [ 2.03834090e-04 2.34040693e-03 9.99997240e-01 -8.43835606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83719347 meters Centerline goodness [0,1] 0.9131817426005986 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.18, Z:-0.85 [[ 9.99999066e-01 -1.19161779e-03 -6.69037532e-04 3.00240311e+00] [ 1.18847418e-03 9.99988344e-01 -4.67961451e-03 -1.76827253e-01] [ 6.74606046e-04 4.67881501e-03 9.99988827e-01 -8.45057112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86719347 meters Centerline goodness [0,1] 0.9203042397141484 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.18, Z:-0.85 [[ 9.99968501e-01 -7.82235959e-03 -1.34426827e-03 3.00565839e+00] [ 7.80895155e-03 9.99922407e-01 -9.70568432e-03 -1.83362498e-01] [ 1.42008532e-03 9.69488128e-03 9.99951995e-01 -8.47605138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89719347 meters Centerline goodness [0,1] 0.92139065264911 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.19, Z:-0.85 [[ 9.99939326e-01 -1.08746982e-02 -1.75676415e-03 3.00769473e+00] [ 1.08528484e-02 9.99869076e-01 -1.20019339e-02 -1.86786885e-01] [ 1.88705155e-03 1.19821398e-02 9.99926431e-01 -8.49019115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92719347 meters Centerline goodness [0,1] 0.9215044971381848 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.19, Z:-0.85 [[ 9.99933031e-01 -1.14081230e-02 -1.94620843e-03 3.00841451e+00] [ 1.13855182e-02 9.99871836e-01 -1.12553257e-02 -1.91410995e-01] [ 2.07436113e-03 1.12324133e-02 9.99934763e-01 -8.49461377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95719347 meters Centerline goodness [0,1] 0.9249318602667332 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.20, Z:-0.85 [[ 9.99846166e-01 -1.72923878e-02 2.93562640e-03 3.01526548e+00] [ 1.73080158e-02 9.99835707e-01 -5.38434026e-03 -1.98273644e-01] [-2.84203600e-03 5.43432184e-03 9.99981195e-01 -8.49078501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98719347000001 meters Centerline goodness [0,1] 0.9273000125057318 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.20, Z:-0.85 [[ 9.99846109e-01 -1.73106371e-02 2.84605342e-03 3.01489046e+00] [ 1.73239088e-02 9.99838852e-01 -4.70661402e-03 -2.00493473e-01] [-2.76412030e-03 4.75519449e-03 9.99984874e-01 -8.48142315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01719347 meters Centerline goodness [0,1] 0.9276598406806523 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.20, Z:-0.85 [[ 9.99897447e-01 -1.40798170e-02 2.61820915e-03 3.01482459e+00] [ 1.40807984e-02 9.99900797e-01 -3.56748914e-04 -2.03490910e-01] [-2.61292645e-03 3.93578803e-04 9.99996509e-01 -8.47445977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04719347 meters Centerline goodness [0,1] 0.9290489720875815 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.21, Z:-0.85 [[ 9.99943544e-01 -1.02889076e-02 2.65470809e-03 3.01450159e+00] [ 1.02786846e-02 9.99939814e-01 3.83621390e-03 -2.05227283e-01] [-2.69401876e-03 -3.80871042e-03 9.99989118e-01 -8.46957770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07719347 meters Centerline goodness [0,1] 0.9290825745161893 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.21, Z:-0.85 [[ 9.99962192e-01 -8.41643032e-03 2.18603480e-03 3.01677072e+00] [ 8.40442949e-03 9.99949873e-01 5.44213605e-03 -2.05154245e-01] [-2.23172858e-03 -5.42355792e-03 9.99982802e-01 -8.48553155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10719347 meters Centerline goodness [0,1] 0.9240826830483148 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.20, Z:-0.85 [[ 9.99988666e-01 -4.08611890e-03 2.44371059e-03 3.01714231e+00] [ 4.06356756e-03 9.99949761e-01 9.16315982e-03 -2.03937004e-01] [-2.48102958e-03 -9.15312578e-03 9.99955031e-01 -8.49469604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13719347 meters Centerline goodness [0,1] 0.9208449881016991 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.20, Z:-0.85 [[ 9.99990971e-01 -3.47108770e-03 2.45144118e-03 3.01777901e+00] [ 3.44855764e-03 9.99952322e-01 9.13572833e-03 -2.02443262e-01] [-2.48303522e-03 -9.12719190e-03 9.99955263e-01 -8.50238614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16719347 meters Centerline goodness [0,1] 0.9168798751950078 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.20, Z:-0.85 [[ 9.99995759e-01 -2.17126041e-03 1.94095722e-03 3.02000521e+00] [ 2.15189999e-03 9.99948463e-01 9.92172831e-03 -2.01774638e-01] [-1.96239985e-03 -9.91750949e-03 9.99948895e-01 -8.51758474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19719347 meters Centerline goodness [0,1] 0.9151896880035154 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.20, Z:-0.85 [[ 9.99996935e-01 -1.62862167e-03 1.86475120e-03 3.02057582e+00] [ 1.61011898e-03 9.99949883e-01 9.88120942e-03 -2.00719543e-01] [-1.88075050e-03 -9.87817667e-03 9.99949441e-01 -8.52234910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22719347 meters Centerline goodness [0,1] 0.913718148725949 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.20, Z:-0.85 [[ 9.99999134e-01 5.92611739e-04 1.17545173e-03 3.02377707e+00] [-6.06253221e-04 9.99932080e-01 1.16391061e-02 -2.00373015e-01] [-1.16847442e-03 -1.16398086e-02 9.99931572e-01 -8.54501811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25719347 meters Centerline goodness [0,1] 0.9120312629916022 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.20, Z:-0.86 [[ 9.99999405e-01 6.26215661e-04 8.92750061e-04 3.02496814e+00] [-6.36619999e-04 9.99931327e-01 1.17020031e-02 -2.00763933e-01] [-8.85360775e-04 -1.17025645e-02 9.99931131e-01 -8.55275702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28719347 meters Centerline goodness [0,1] 0.9105779488359446 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.86 [[ 9.99999687e-01 -6.13244142e-04 5.00635042e-04 3.02737465e+00] [ 6.07938131e-04 9.99944365e-01 1.05307935e-02 -2.01336535e-01] [-5.07065137e-04 -1.05304858e-02 9.99944424e-01 -8.57266821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31719347 meters Centerline goodness [0,1] 0.9094320740555417 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.86 [[ 9.99998515e-01 -1.72355860e-03 1.21041656e-05 3.02985010e+00] [ 1.72336512e-03 9.99953150e-01 9.52513987e-03 -2.01704829e-01] [-2.85207352e-05 -9.52510486e-03 9.99954635e-01 -8.59137452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34719347000001 meters Centerline goodness [0,1] 0.910541596173528 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.86 [[ 9.99989650e-01 -4.54546878e-03 1.98174264e-04 3.03025033e+00] [ 4.54405876e-03 9.99967803e-01 6.61390673e-03 -2.02911489e-01] [-2.28231190e-04 -6.61293775e-03 9.99978108e-01 -8.59930303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37719347000001 meters Centerline goodness [0,1] 0.9096399438001971 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.86 [[ 9.99989382e-01 -4.60708172e-03 1.03399067e-04 3.03045188e+00] [ 4.60625260e-03 9.99965277e-01 6.94452635e-03 -2.04744987e-01] [-1.35389477e-04 -6.94397633e-03 9.99975881e-01 -8.59830449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40719347 meters Centerline goodness [0,1] 0.9092497815503683 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.21, Z:-0.86 [[ 9.99981008e-01 -6.13894275e-03 -5.44455368e-04 3.03301011e+00] [ 6.14185068e-03 9.99965955e-01 5.51062347e-03 -2.06046264e-01] [ 5.10607430e-04 -5.51386278e-03 9.99984668e-01 -8.61377639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43719347 meters Centerline goodness [0,1] 0.9107266291028675 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.21, Z:-0.86 [[ 9.99980425e-01 -6.19588705e-03 -8.72696407e-04 3.03383158e+00] [ 6.20086006e-03 9.99963862e-01 5.81592550e-03 -2.07605126e-01] [ 8.36630052e-04 -5.82122312e-03 9.99982707e-01 -8.61629518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46719347 meters Centerline goodness [0,1] 0.9094905719345765 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.86 [[ 9.99971627e-01 -7.38368467e-03 -1.49226297e-03 3.03679349e+00] [ 7.39100296e-03 9.99960387e-01 4.95963134e-03 -2.09368789e-01] [ 1.45558350e-03 -4.97051994e-03 9.99986588e-01 -8.63688005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49719347 meters Centerline goodness [0,1] 0.9101001669449081 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.86 [[ 9.99971579e-01 -7.36347508e-03 -1.61850964e-03 3.03734987e+00] [ 7.37219128e-03 9.99957990e-01 5.44700008e-03 -2.11376464e-01] [ 1.57833279e-03 -5.45877723e-03 9.99983855e-01 -8.63986161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52719347 meters Centerline goodness [0,1] 0.9094443174022411 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.87 [[ 9.99953524e-01 -9.40112230e-03 -2.13737679e-03 3.03970472e+00] [ 9.40888477e-03 9.99949070e-01 3.65119858e-03 -2.13553636e-01] [ 2.10294257e-03 -3.67113922e-03 9.99991050e-01 -8.65520105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55719347 meters Centerline goodness [0,1] 0.9112960413798857 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.22, Z:-0.86 [[ 9.99913616e-01 -1.30088335e-02 -1.87900237e-03 3.03870064e+00] [ 1.30111438e-02 9.99914604e-01 1.22260991e-03 -2.18985828e-01] [ 1.86293718e-03 -1.24695226e-03 9.99997487e-01 -8.64440870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58719347 meters Centerline goodness [0,1] 0.9148085691087378 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.22, Z:-0.86 [[ 9.99910128e-01 -1.32442705e-02 -2.07958660e-03 3.03927303e+00] [ 1.32484401e-02 9.99910227e-01 2.00419690e-03 -2.21929000e-01] [ 2.05285578e-03 -2.03156806e-03 9.99995829e-01 -8.64515272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61719347 meters Centerline goodness [0,1] 0.917381929759091 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.22, Z:-0.86 [[ 9.99848748e-01 -1.72774263e-02 -1.99288491e-03 3.03917479e+00] [ 1.72753991e-02 9.99850239e-01 -1.02997393e-03 -2.23870315e-01] [ 2.01038175e-03 9.95390261e-04 9.99997484e-01 -8.64086912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64719347 meters Centerline goodness [0,1] 0.912642148811875 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.23, Z:-0.86 [[ 9.99846612e-01 -1.74011778e-02 -1.98774848e-03 3.03876649e+00] [ 1.74005615e-02 9.99848545e-01 -3.26930297e-04 -2.26394734e-01] [ 1.99313640e-03 2.92292210e-04 9.99997971e-01 -8.63333675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67719347 meters Centerline goodness [0,1] 0.9136695144821838 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.23, Z:-0.86 [[ 9.99846586e-01 -1.74013949e-02 -1.99874916e-03 3.03864782e+00] [ 1.74023418e-02 9.99848463e-01 4.57330323e-04 -2.29319134e-01] [ 1.99048809e-03 -4.92043079e-04 9.99997898e-01 -8.62993433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70719347 meters Centerline goodness [0,1] 0.9116339923575345 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.23, Z:-0.86 [[ 9.99846505e-01 -1.73929658e-02 -2.10957836e-03 3.03934110e+00] [ 1.73951689e-02 9.99848162e-01 1.03052305e-03 -2.31775022e-01] [ 2.09133419e-03 -1.06706135e-03 9.99997244e-01 -8.63448247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73719347000001 meters Centerline goodness [0,1] 0.9132297915926336 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.23, Z:-0.86 [[ 9.99855839e-01 -1.68597161e-02 -2.01273927e-03 3.03962535e+00] [ 1.68627803e-02 9.99856665e-01 1.51526610e-03 -2.31990267e-01] [ 1.98690382e-03 -1.54898804e-03 9.99996826e-01 -8.63987585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76719347 meters Centerline goodness [0,1] 0.9140714508905322 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.23, Z:-0.87 [[ 9.99895278e-01 -1.42329631e-02 -2.61850624e-03 3.04222345e+00] [ 1.42433831e-02 9.99890538e-01 4.00472292e-03 -2.30676068e-01] [ 2.56122054e-03 -4.04159992e-03 9.99988553e-01 -8.65850774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79719347 meters Centerline goodness [0,1] 0.9115821157584498 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.23, Z:-0.87 [[ 9.99939504e-01 -1.06186743e-02 -2.86932343e-03 3.04302675e+00] [ 1.06395291e-02 9.99916361e-01 7.35339273e-03 -2.29366290e-01] [ 2.79100016e-03 -7.38347613e-03 9.99968847e-01 -8.66338242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82719347 meters Centerline goodness [0,1] 0.9092448216039964 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.23, Z:-0.87 [[ 0.99996456 -0.007727 -0.0033427 3.04494052] [ 0.00775987 0.99992054 0.0099344 -0.22790111] [ 0.00326567 -0.00995998 0.99994507 -0.8675854 ] [ 0. 0. 0. 1. ]] SLAMing on 68.85719347 meters Centerline goodness [0,1] 0.9042349214288692 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99999980e-01 -1.97700720e-04 -1.10723375e-05 3.04750417e+00] [ 1.97707090e-04 9.99999813e-01 5.78279128e-04 -2.23788890e-01] [ 1.09580092e-05 -5.78281306e-04 9.99999833e-01 -8.69321763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88719347 meters Centerline goodness [0,1] 0.9019099562431305 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99999264e-01 1.05534241e-03 -5.97783297e-04 3.05021280e+00] [-1.05454735e-03 9.99998561e-01 1.32877352e-03 -2.21687979e-01] [ 5.99184748e-04 -1.32814216e-03 9.99998939e-01 -8.71193901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91719347 meters Centerline goodness [0,1] 0.899327461636163 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99999175e-01 1.02002093e-03 -7.80383099e-04 3.05083119e+00] [-1.01946297e-03 9.99999225e-01 7.15052075e-04 -2.19503794e-01] [ 7.81111862e-04 -7.14255914e-04 9.99999440e-01 -8.71503551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94719347 meters Centerline goodness [0,1] 0.89865216757286 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99999204e-01 6.86258338e-04 -1.05875455e-03 3.05193310e+00] [-6.86448591e-04 9.99999748e-01 -1.79342031e-04 -2.16884367e-01] [ 1.05863121e-03 1.80068669e-04 9.99999423e-01 -8.72293843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97719347 meters Centerline goodness [0,1] 0.8982880792625572 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99999098e-01 4.54733094e-04 -1.26352728e-03 3.05237585e+00] [-4.55389888e-04 9.99999761e-01 -5.19570395e-04 -2.15920141e-01] [ 1.26329072e-03 5.20145324e-04 9.99999067e-01 -8.72357904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00719347 meters Centerline goodness [0,1] 0.8998211463272606 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99998754e-01 2.18685626e-04 -1.56363784e-03 3.05307184e+00] [-2.19874219e-04 9.99999687e-01 -7.60014469e-04 -2.15332094e-01] [ 1.56347114e-03 7.60357325e-04 9.99998489e-01 -8.72429020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03719347 meters Centerline goodness [0,1] 0.9006965008132795 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99998424e-01 2.53572923e-04 -1.75738728e-03 3.05311459e+00] [-2.54854190e-04 9.99999702e-01 -7.28889052e-04 -2.15118500e-01] [ 1.75720193e-03 7.29335780e-04 9.99998190e-01 -8.71971553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06719347 meters Centerline goodness [0,1] 0.8971470220741358 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.21, Z:-0.87 [[ 9.99997666e-01 4.65409407e-04 -2.10970505e-03 3.05422905e+00] [-4.66787166e-04 9.99999678e-01 -6.52612180e-04 -2.14867802e-01] [ 2.10940064e-03 6.53595440e-04 9.99997562e-01 -8.72453508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09719347000001 meters Centerline goodness [0,1] 0.8983326725235283 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.21, Z:-0.87 [[ 9.99997416e-01 6.58163976e-04 -2.17618777e-03 3.05431554e+00] [-6.59556173e-04 9.99999578e-01 -6.39085295e-04 -2.14364585e-01] [ 2.17576623e-03 6.40518962e-04 9.99997428e-01 -8.72327912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12719347000001 meters Centerline goodness [0,1] 0.8978470955705092 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.21, Z:-0.87 [[ 9.99997061e-01 1.06245933e-03 -2.17905010e-03 3.05412417e+00] [-1.06341466e-03 9.99999339e-01 -4.37303318e-04 -2.13698382e-01] [ 2.17858405e-03 4.39619266e-04 9.99997530e-01 -8.71984543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15719347 meters Centerline goodness [0,1] 0.8991862094935252 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.21, Z:-0.87 [[ 9.99996577e-01 1.13324616e-03 -2.35839117e-03 3.05459550e+00] [-1.13455177e-03 9.99999204e-01 -5.52337206e-04 -2.12990209e-01] [ 2.35776336e-03 5.55011032e-04 9.99997066e-01 -8.72013454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18719347 meters Centerline goodness [0,1] 0.8985261240374265 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.21, Z:-0.87 [[ 9.99999019e-01 1.34543044e-03 -3.89884428e-04 3.07219141e+00] [-1.34556029e-03 9.99999039e-01 -3.32971593e-04 -2.13139049e-01] [ 3.89436063e-04 3.33495879e-04 9.99999869e-01 -8.70797076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21719347 meters Centerline goodness [0,1] 0.9007836727851815 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.21, Z:-0.87 [[ 9.99997840e-01 1.69758741e-03 1.19957474e-03 3.05225860e+00] [-1.69748716e-03 9.99998556e-01 -8.45849773e-05 -2.14136878e-01] [-1.19971660e-03 8.25485319e-05 9.99999277e-01 -8.70585872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24719347 meters Centerline goodness [0,1] 0.8997537151444315 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.21, Z:-0.87 [[ 9.99998602e-01 1.41212736e-03 8.96032502e-04 3.05301886e+00] [-1.41195351e-03 9.99998984e-01 -1.94633175e-04 -2.14754047e-01] [-8.96306439e-04 1.93367747e-04 9.99999580e-01 -8.70744551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27719347 meters Centerline goodness [0,1] 0.8995075120004987 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.87 [[ 9.99999872e-01 3.04481015e-04 4.03448299e-04 3.05499123e+00] [-3.04129680e-04 9.99999575e-01 -8.70605862e-04 -2.16036962e-01] [-4.03713210e-04 8.70483051e-04 9.99999540e-01 -8.71920593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30719347 meters Centerline goodness [0,1] 0.9021264139502791 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.22, Z:-0.87 [[ 9.99999972e-01 4.44183497e-05 2.32187243e-04 3.05569386e+00] [-4.42724226e-05 9.99999802e-01 -6.28456319e-04 -2.17909329e-01] [-2.32215112e-04 6.28446022e-04 9.99999776e-01 -8.72379178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33719347 meters Centerline goodness [0,1] 0.9018688681006409 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.22, Z:-0.87 [[ 9.99998776e-01 -1.48163472e-03 -5.02505221e-04 3.05884657e+00] [ 1.48074955e-03 9.99997360e-01 -1.75731935e-03 -2.18967468e-01] [ 5.05107600e-04 1.75657311e-03 9.99998330e-01 -8.74521643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36719347 meters Centerline goodness [0,1] 0.904465669640987 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.22, Z:-0.88 [[ 9.99991580e-01 -1.91321035e-03 -3.63047106e-03 3.04313139e+00] [ 1.91392035e-03 9.99998150e-01 1.92102139e-04 -2.21508137e-01] [ 3.63009681e-03 -1.99048954e-04 9.99993391e-01 -8.75459029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39719347 meters Centerline goodness [0,1] 0.904445558619537 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.22, Z:-0.88 [[ 9.99990862e-01 -1.76730168e-03 -3.89260551e-03 3.04402642e+00] [ 1.76939323e-03 9.99998292e-01 5.33936356e-04 -2.22131653e-01] [ 3.89165523e-03 -5.40819026e-04 9.99992281e-01 -8.75892350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42719347 meters Centerline goodness [0,1] 0.902313571145957 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.88 [[ 9.99989884e-01 -1.49930174e-03 -4.24068640e-03 3.04531534e+00] [ 1.50310665e-03 9.99998471e-01 8.94194261e-04 -2.22951677e-01] [ 4.23933925e-03 -9.00559419e-04 9.99990608e-01 -8.76631496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45719347 meters Centerline goodness [0,1] 0.9007148530579825 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.88 [[ 9.99990079e-01 -1.02271117e-03 -4.33546113e-03 3.04591079e+00] [ 1.02843067e-03 9.99998604e-01 1.31721251e-03 -2.23941972e-01] [ 4.33410795e-03 -1.32165816e-03 9.99989734e-01 -8.77103583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48719347000001 meters Centerline goodness [0,1] 0.8994814768538765 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.88 [[ 9.99990946e-01 3.77879797e-04 -4.23845000e-03 3.04586703e+00] [-3.69390305e-04 9.99997925e-01 2.00357485e-03 -2.24402636e-01] [ 4.23919831e-03 -2.00199107e-03 9.99989011e-01 -8.76962775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51719347 meters Centerline goodness [0,1] 0.8994814768538765 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.88 [[ 9.99990946e-01 3.77879797e-04 -4.23845000e-03 3.04586703e+00] [-3.69390305e-04 9.99997925e-01 2.00357485e-03 -2.24402636e-01] [ 4.23919831e-03 -2.00199107e-03 9.99989011e-01 -8.76962775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54719347 meters Centerline goodness [0,1] 0.896529347735075 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.88 [[ 9.99990589e-01 8.62524957e-04 -4.25174527e-03 3.04538553e+00] [-8.52599197e-04 9.99996909e-01 2.33577421e-03 -2.24904210e-01] [ 4.25374679e-03 -2.33212720e-03 9.99988233e-01 -8.76201460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57719347 meters Centerline goodness [0,1] 0.8960496354634524 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-0.88 [[ 9.99989656e-01 1.16249120e-03 -4.39723733e-03 3.04584755e+00] [-1.15052870e-03 9.99995633e-01 2.72201171e-03 -2.26190938e-01] [ 4.40038244e-03 -2.71692441e-03 9.99986627e-01 -8.76364436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60719347 meters Centerline goodness [0,1] 0.8973003351164581 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-0.88 [[ 9.99988567e-01 1.39924379e-03 -4.57250983e-03 3.04667014e+00] [-1.38478621e-03 9.99994037e-01 3.16348477e-03 -2.27581165e-01] [ 4.57690905e-03 -3.15711665e-03 9.99984542e-01 -8.76906781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63719347 meters Centerline goodness [0,1] 0.8926644305089689 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-0.88 [[ 9.99987559e-01 2.15906907e-03 -4.49677830e-03 3.04703871e+00] [-2.14036226e-03 9.99989054e-01 4.16071435e-03 -2.29067866e-01] [ 4.50571235e-03 -4.15103785e-03 9.99981234e-01 -8.77457655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66719347 meters Centerline goodness [0,1] 0.8943788340358052 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-0.88 [[ 9.99985792e-01 2.62172651e-03 -4.64138592e-03 3.04733462e+00] [-2.59958267e-03 9.99985242e-01 4.77057405e-03 -2.30469796e-01] [ 4.65382456e-03 -4.75844061e-03 9.99977849e-01 -8.77340709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69719347 meters Centerline goodness [0,1] 0.8907554213329978 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-0.88 [[ 0.99998348 0.00315307 -0.00480659 3.04756693] [-0.00312592 0.99997917 0.00564667 -0.23333137] [ 0.0048243 -0.00563155 0.99997251 -0.8771306 ] [ 0. 0. 0. 1. ]] SLAMing on 69.72719347 meters Centerline goodness [0,1] 0.887420408847185 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.24, Z:-0.88 [[ 9.99983956e-01 2.31705013e-03 -5.16898372e-03 3.04977171e+00] [-2.29129743e-03 9.99984962e-01 4.98252957e-03 -2.41254756e-01] [ 5.18045076e-03 -4.97060595e-03 9.99974228e-01 -8.78984686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75719347 meters Centerline goodness [0,1] 0.8878453733596076 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.24, Z:-0.88 [[ 9.99983710e-01 1.21551098e-03 -5.57702777e-03 3.05214617e+00] [-1.19352229e-03 9.99991509e-01 3.94436193e-03 -2.44267615e-01] [ 5.58177483e-03 -3.93764137e-03 9.99976669e-01 -8.80921273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78719347 meters Centerline goodness [0,1] 0.8879791122715405 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.25, Z:-0.88 [[ 9.99982337e-01 1.67420562e-03 -5.70278644e-03 3.05288556e+00] [-1.64633454e-03 9.99986696e-01 4.88846738e-03 -2.46807965e-01] [ 5.71089487e-03 -4.87899234e-03 9.99971790e-01 -8.81428019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81719347 meters Centerline goodness [0,1] 0.8876313156578289 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.25, Z:-0.88 [[ 9.99980903e-01 2.18867724e-03 -5.77953434e-03 3.05301670e+00] [-2.15478212e-03 9.99980483e-01 5.86440905e-03 -2.49078519e-01] [ 5.79225684e-03 -5.85184342e-03 9.99966102e-01 -8.81249838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84719347000001 meters Centerline goodness [0,1] 0.8846612920113077 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.26, Z:-0.88 [[ 9.99985565e-01 1.08468260e-03 -5.26240943e-03 3.05100265e+00] [-1.05604546e-03 9.99984637e-01 5.44156111e-03 -2.55658159e-01] [ 5.26823095e-03 -5.43592522e-03 9.99971348e-01 -8.79708494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87719347 meters Centerline goodness [0,1] 0.8867058505887973 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.26, Z:-0.88 [[ 9.99983766e-01 -1.02285828e-03 -5.60542281e-03 3.05286560e+00] [ 1.04487284e-03 9.99991748e-01 3.92584779e-03 -2.60528300e-01] [ 5.60136097e-03 -3.93164102e-03 9.99976583e-01 -8.80997010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90719347 meters Centerline goodness [0,1] 0.8832876253480436 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.27, Z:-0.88 [[ 9.99977100e-01 -3.80732219e-03 -5.59504518e-03 3.05293055e+00] [ 3.81760680e-03 9.99991041e-01 1.82863533e-03 -2.65560892e-01] [ 5.58803285e-03 -1.84995314e-03 9.99982676e-01 -8.80987523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93719347 meters Centerline goodness [0,1] 0.8851085121020702 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.27, Z:-0.88 [[ 9.99963135e-01 -6.21150964e-03 -5.92838263e-03 3.05479548e+00] [ 6.21347728e-03 9.99980647e-01 3.13540541e-04 -2.71077567e-01] [ 5.92632034e-03 -3.50364853e-04 9.99982378e-01 -8.82347305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96719347 meters Centerline goodness [0,1] 0.8863365591622598 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.28, Z:-0.88 [[ 9.99938463e-01 -9.18576647e-03 -6.22033614e-03 3.05734900e+00] [ 9.18254493e-03 9.99957690e-01 -5.46266706e-04 -2.79804625e-01] [ 6.22509084e-03 4.89114574e-04 9.99980504e-01 -8.84600737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99719347 meters Centerline goodness [0,1] 0.8879935032483758 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.28, Z:-0.89 [[ 9.99935086e-01 -9.24491522e-03 -6.65995890e-03 3.05921024e+00] [ 9.24924452e-03 9.99957033e-01 6.19541448e-04 -2.83787701e-01] [ 6.65394514e-03 -6.81100820e-04 9.99977630e-01 -8.85820186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02719347 meters Centerline goodness [0,1] 0.8893833970622036 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.29, Z:-0.89 [[ 0.9998598 -0.01518281 -0.007062 3.06179337] [ 0.01515784 0.99987872 -0.00357672 -0.29189419] [ 0.00711544 0.00346917 0.99996867 -0.88766387] [ 0. 0. 0. 1. ]] SLAMing on 70.05719347 meters Centerline goodness [0,1] 0.8934649917713476 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.30, Z:-0.89 [[ 0.99980031 -0.01861251 -0.00727474 3.0627996 ] [ 0.01857108 0.99981117 -0.00572177 -0.29827409] [ 0.00737987 0.00558553 0.99995717 -0.88808993] [ 0. 0. 0. 1. ]] SLAMing on 70.08719347 meters Centerline goodness [0,1] 0.8968512486427795 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.30, Z:-0.89 [[ 0.99972563 -0.02225113 -0.00731761 3.06312118] [ 0.02219276 0.99972199 -0.00796338 -0.30434342] [ 0.00749277 0.0077988 0.99994152 -0.88799631] [ 0. 0. 0. 1. ]] SLAMing on 70.11719347 meters Centerline goodness [0,1] 0.9038662268798797 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.31, Z:-0.89 [[ 0.99963138 -0.02611257 -0.00743193 3.06351783] [ 0.02603397 0.99960609 -0.01048298 -0.30922738] [ 0.00770274 0.01028564 0.99991743 -0.88773259] [ 0. 0. 0. 1. ]] SLAMing on 70.14719347 meters Centerline goodness [0,1] 0.9034859848326141 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.31, Z:-0.89 [[ 0.99952376 -0.02994849 -0.00743862 3.06374137] [ 0.02984952 0.99946885 -0.01307769 -0.31311621] [ 0.00782633 0.01284942 0.99988681 -0.88746712] [ 0. 0. 0. 1. ]] SLAMing on 70.17719347 meters Centerline goodness [0,1] 0.910381395737219 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.32, Z:-0.88 [[ 0.99929173 -0.03672584 -0.00820049 3.06632121] [ 0.03663954 0.99927404 -0.01043687 -0.32093918] [ 0.00857784 0.01012902 0.99991191 -0.88119532] [ 0. 0. 0. 1. ]] SLAMing on 70.20719347 meters Centerline goodness [0,1] 0.9111565505873516 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.32, Z:-0.88 [[ 0.99927226 -0.03726037 -0.0081616 3.0666186 ] [ 0.03717939 0.99925997 -0.0098591 -0.32381449] [ 0.00852292 0.00954848 0.99991809 -0.88126024] [ 0. 0. 0. 1. ]] SLAMing on 70.23719347000001 meters Centerline goodness [0,1] 0.9070836975069714 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.33, Z:-0.88 [[ 0.99912013 -0.04128162 -0.00740296 3.06518291] [ 0.04118105 0.99906374 -0.01325773 -0.32566534] [ 0.00794333 0.0129412 0.99988471 -0.88036464] [ 0. 0. 0. 1. ]] SLAMing on 70.26719347 meters Centerline goodness [0,1] 0.9064455958549222 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.33, Z:-0.88 [[ 0.99910668 -0.04162076 -0.00731837 3.06495177] [ 0.04152238 0.99905147 -0.01311651 -0.32704835] [ 0.00785735 0.01280092 0.99988719 -0.87989808] [ 0. 0. 0. 1. ]] SLAMing on 70.29719347 meters Centerline goodness [0,1] 0.9048542474665332 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.33, Z:-0.88 [[ 0.9990893 -0.04201769 -0.0074215 3.06523006] [ 0.04191603 0.99903181 -0.01336013 -0.32706295] [ 0.00797568 0.01303689 0.99988321 -0.87988899] [ 0. 0. 0. 1. ]] SLAMing on 70.32719347 meters Centerline goodness [0,1] 0.8889424083769634 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.32, Z:-0.88 [[ 0.99912018 -0.04119626 -0.00785725 3.06834495] [ 0.04109758 0.99907901 -0.01233334 -0.32252097] [ 0.0083581 0.01199957 0.99989307 -0.8827658 ] [ 0. 0. 0. 1. ]] SLAMing on 70.35719347 meters Centerline goodness [0,1] 0.8735446854845464 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.32, Z:-0.88 [[ 0.99919452 -0.03923503 -0.00842196 3.07054192] [ 0.03914881 0.99918164 -0.01016948 -0.31977825] [ 0.00881407 0.00983158 0.99991282 -0.88437031] [ 0. 0. 0. 1. ]] SLAMing on 70.38719347 meters Centerline goodness [0,1] 0.864664962494238 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.32, Z:-0.89 [[ 0.99926255 -0.03731611 -0.00904805 3.07274913] [ 0.03724236 0.99927272 -0.00818724 -0.31707495] [ 0.00934699 0.00784423 0.99992555 -0.88583628] [ 0. 0. 0. 1. ]] SLAMing on 70.41719347 meters Centerline goodness [0,1] 0.8542841625934745 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.89 [[ 0.99931672 -0.03564963 -0.00975644 3.07557432] [ 0.03558669 0.99934512 -0.00655058 -0.31462426] [ 0.00998358 0.0061989 0.99993095 -0.88776654] [ 0. 0. 0. 1. ]] SLAMing on 70.44719347 meters Centerline goodness [0,1] 0.8578455999330151 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.89 [[ 0.99934339 -0.03467872 -0.01049663 3.07926512] [ 0.03461055 0.99937903 -0.0066074 -0.30703359] [ 0.01071925 0.00623977 0.99992308 -0.89089459] [ 0. 0. 0. 1. ]] SLAMing on 70.47719347 meters Centerline goodness [0,1] 0.8608332809125412 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.30, Z:-0.89 [[ 0.99943107 -0.03197132 -0.01074073 3.08023698] [ 0.03192732 0.99948119 -0.00424325 -0.30376689] [ 0.01087082 0.00389792 0.99993331 -0.89175737] [ 0. 0. 0. 1. ]] SLAMing on 70.50719347 meters Centerline goodness [0,1] 0.8381854830330611 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.30, Z:-0.90 [[ 0.99956051 -0.02894803 -0.00638715 3.09333106] [ 0.02888565 0.99953613 -0.00965107 -0.29848655] [ 0.00666357 0.00946233 0.99993303 -0.89564195] [ 0. 0. 0. 1. ]] SLAMing on 70.53719347 meters Centerline goodness [0,1] 0.8630231536675661 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.29, Z:-0.90 [[ 0.999642 -0.02592257 -0.00662569 3.09359217] [ 0.02587532 0.99963982 -0.00712026 -0.29458739] [ 0.00680788 0.00694627 0.9999527 -0.89556015] [ 0. 0. 0. 1. ]] SLAMing on 70.56719347 meters Centerline goodness [0,1] 0.862234264276782 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.29, Z:-0.90 [[ 0.99971164 -0.02298034 -0.00696645 3.09413277] [ 0.02294855 0.99972602 -0.00461014 -0.29061734] [ 0.00707049 0.00444894 0.99996511 -0.89550987] [ 0. 0. 0. 1. ]] SLAMing on 70.59719347000001 meters Centerline goodness [0,1] 0.8682090867139322 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.28, Z:-0.89 [[ 9.99807494e-01 -1.83930026e-02 -6.83177250e-03 3.09261668e+00] [ 1.83873034e-02 9.99830538e-01 -8.96094859e-04 -2.82353735e-01] [ 6.84709665e-03 7.70304481e-04 9.99976262e-01 -8.94023777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62719347 meters Centerline goodness [0,1] 0.8640681228554691 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.28, Z:-0.90 [[ 9.99840207e-01 -1.62499316e-02 -7.44979819e-03 3.09484133e+00] [ 1.62563824e-02 9.99867531e-01 8.06157099e-04 -2.78450905e-01] [ 7.43571133e-03 -9.27135048e-04 9.99971925e-01 -8.95408967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65719347 meters Centerline goodness [0,1] 0.8692457045032256 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.27, Z:-0.90 [[ 9.99867589e-01 -1.40684909e-02 -8.17810859e-03 3.09752739e+00] [ 1.40898737e-02 9.99897448e-01 2.56292141e-03 -2.74791673e-01] [ 8.14121348e-03 -2.67781057e-03 9.99963274e-01 -8.97128727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68719347 meters Centerline goodness [0,1] 0.8696555196576176 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.27, Z:-0.90 [[ 0.99990342 -0.01120396 -0.00822318 3.09805136] [ 0.01123765 0.99992861 0.0040616 -0.26810365] [ 0.00817709 -0.00415362 0.99995794 -0.89788018] [ 0. 0. 0. 1. ]] SLAMing on 70.71719347 meters Centerline goodness [0,1] 0.8799690835787847 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.26, Z:-0.90 [[ 9.99950694e-01 -6.57986764e-03 -7.43733719e-03 3.10769401e+00] [ 6.56715751e-03 9.99976936e-01 -1.73209482e-03 -2.64971970e-01] [ 7.44856261e-03 1.68316726e-03 9.99970843e-01 -8.97903767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74719347 meters Centerline goodness [0,1] 0.8891060395914765 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.26, Z:-0.90 [[ 9.99971807e-01 -6.90744526e-04 -7.47711532e-03 3.10740185e+00] [ 7.10062546e-04 9.99996416e-01 2.58127312e-03 -2.56111170e-01] [ 7.47530552e-03 -2.58650957e-03 9.99968714e-01 -8.97456725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77719347 meters Centerline goodness [0,1] 0.8971065129610645 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.25, Z:-0.90 [[ 9.99967604e-01 2.47303647e-03 -7.65998126e-03 3.10781771e+00] [-2.43605558e-03 9.99985352e-01 4.83337744e-03 -2.51509386e-01] [ 7.67182217e-03 -4.81456072e-03 9.99958981e-01 -8.97377092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80719347 meters Centerline goodness [0,1] 0.9051396601394514 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.25, Z:-0.90 [[ 0.99995168 0.00590352 -0.00786016 3.10803276] [-0.00584537 0.99995552 0.00740165 -0.24758509] [ 0.00790351 -0.00735535 0.99994172 -0.89705998] [ 0. 0. 0. 1. ]] SLAMing on 70.83719347 meters Centerline goodness [0,1] 0.9123388891221293 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.24, Z:-0.90 [[ 0.99989413 0.01215505 -0.00799947 3.10756659] [-0.01205977 0.99985703 0.01185225 -0.23997911] [ 0.00814239 -0.01175452 0.99989776 -0.8959069 ] [ 0. 0. 0. 1. ]] SLAMing on 70.86719347 meters Centerline goodness [0,1] 0.9142701775667705 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.24, Z:-0.90 [[ 0.99989397 0.01207147 -0.00814409 3.107713 ] [-0.01198619 0.99987366 0.01043986 -0.23525173] [ 0.00826908 -0.01034114 0.99991234 -0.89561779] [ 0. 0. 0. 1. ]] SLAMing on 70.89719347 meters Centerline goodness [0,1] 0.9135506652374046 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.23, Z:-0.90 [[ 0.99989593 0.01185419 -0.00822279 3.10766154] [-0.01177954 0.9998895 0.0090685 -0.23095698] [ 0.00832938 -0.00897069 0.99992507 -0.8952238 ] [ 0. 0. 0. 1. ]] SLAMing on 70.92719347 meters Centerline goodness [0,1] 0.9112967216537899 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.22, Z:-0.90 [[ 9.99893976e-01 1.42469446e-02 -3.01030262e-03 3.11883330e+00] [-1.42412269e-02 9.99896760e-01 1.91236084e-03 -2.21586139e-01] [ 3.03723713e-03 -1.86928768e-03 9.99993640e-01 -8.98477215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95719347 meters Centerline goodness [0,1] 0.911335436382755 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.22, Z:-0.90 [[ 9.99900225e-01 1.37551169e-02 -3.21498723e-03 3.11934388e+00] [-1.37525778e-02 9.99905100e-01 8.10542267e-04 -2.18162397e-01] [ 3.22583123e-03 -7.66247034e-04 9.99994503e-01 -8.98610989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98719347000001 meters Centerline goodness [0,1] 0.9117881072026801 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.22, Z:-0.90 [[ 9.99906375e-01 1.32493563e-02 -3.41991319e-03 3.12020713e+00] [-1.32497021e-02 9.99912216e-01 -7.84783147e-05 -2.16290934e-01] [ 3.41857318e-03 1.23783798e-04 9.99994149e-01 -8.99189360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01719347 meters Centerline goodness [0,1] 0.9130670899824547 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.22, Z:-0.90 [[ 9.99912172e-01 1.27415412e-02 -3.64715873e-03 3.12096773e+00] [-1.27446438e-02 9.99918440e-01 -8.28689010e-04 -2.15445712e-01] [ 3.63630250e-03 8.75097966e-04 9.99993006e-01 -8.99571072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04719347 meters Centerline goodness [0,1] 0.9128986296777438 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.21, Z:-0.90 [[ 9.99912649e-01 1.27002226e-02 -3.66034881e-03 3.12140521e+00] [-1.27063813e-02 9.99917886e-01 -1.66422156e-03 -2.12905596e-01] [ 3.63891226e-03 1.71058598e-03 9.99991916e-01 -9.00037494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07719347 meters Centerline goodness [0,1] 0.9159054722198944 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.21, Z:-0.90 [[ 9.99914048e-01 1.25422167e-02 -3.81968260e-03 3.12214379e+00] [-1.25513662e-02 9.99918394e-01 -2.38086903e-03 -2.10447991e-01] [ 3.78950952e-03 2.42860663e-03 9.99989871e-01 -9.00497429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10719347 meters Centerline goodness [0,1] 0.9149777142376587 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.21, Z:-0.90 [[ 9.99914169e-01 1.24874935e-02 -3.96458630e-03 3.12260012e+00] [-1.24990067e-02 9.99917700e-01 -2.89264577e-03 -2.08338076e-01] [ 3.92813812e-03 2.94195088e-03 9.99987957e-01 -9.00678735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13719347 meters Centerline goodness [0,1] 0.9125217646688624 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.21, Z:-0.90 [[ 0.99991347 0.01245395 -0.00423577 3.12360774] [-0.01246754 0.99991717 -0.00319546 -0.20697762] [ 0.00419562 0.003248 0.99998592 -0.90126439] [ 0. 0. 0. 1. ]] SLAMing on 71.16719347 meters Centerline goodness [0,1] 0.9130608133629916 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.21, Z:-0.90 [[ 9.99911592e-01 1.25743474e-02 -4.32355756e-03 3.12392386e+00] [-1.25875437e-02 9.99916157e-01 -3.03864151e-03 -2.07975388e-01] [ 4.28498613e-03 3.09279584e-03 9.99986037e-01 -9.01381472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19719347 meters Centerline goodness [0,1] 0.9136211240915433 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.21, Z:-0.90 [[ 9.99912494e-01 1.24210083e-02 -4.55221161e-03 3.12476110e+00] [-1.24342514e-02 9.99918508e-01 -2.89250380e-03 -2.09464464e-01] [ 4.51591283e-03 2.94885404e-03 9.99985455e-01 -9.01851048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22719347 meters Centerline goodness [0,1] 0.9131603823127823 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.21, Z:-0.90 [[ 9.99912229e-01 1.23853594e-02 -4.70499474e-03 3.12518555e+00] [-1.23980826e-02 9.99919537e-01 -2.68471627e-03 -2.10950037e-01] [ 4.67136498e-03 2.74281355e-03 9.99985328e-01 -9.02026203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25719347 meters Centerline goodness [0,1] 0.9183785033956393 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.21, Z:-0.90 [[ 9.99911336e-01 1.24474129e-02 -4.73087165e-03 3.12503164e+00] [-1.24587482e-02 9.99919568e-01 -2.37416354e-03 -2.12249226e-01] [ 4.70093894e-03 2.43289378e-03 9.99985991e-01 -9.01646616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28719347 meters Centerline goodness [0,1] 0.919901648225709 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.21, Z:-0.90 [[ 9.99907432e-01 1.26535317e-02 -5.00146846e-03 3.12557198e+00] [-1.26637407e-02 9.99917782e-01 -2.01482371e-03 -2.12433801e-01] [ 4.97556261e-03 2.07797450e-03 9.99985463e-01 -9.01556799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31719347 meters Centerline goodness [0,1] 0.9194161376545272 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.21, Z:-0.90 [[ 9.99909074e-01 1.24082199e-02 -5.28009645e-03 3.12618083e+00] [-1.24195857e-02 9.99920615e-01 -2.12527517e-03 -2.12812062e-01] [ 5.25330641e-03 2.19065854e-03 9.99983802e-01 -9.01660223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34719347000001 meters Centerline goodness [0,1] 0.9195780043120592 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.21, Z:-0.90 [[ 0.99994292 0.00918437 -0.00546017 3.12679922] [-0.00921487 0.99994192 -0.00558887 -0.21284996] [ 0.00540852 0.00563886 0.99996948 -0.90202489] [ 0. 0. 0. 1. ]] SLAMing on 71.37719347 meters Centerline goodness [0,1] 0.9220280231368373 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.21, Z:-0.90 [[ 0.99994942 0.00802536 -0.0060628 3.12942822] [-0.00806383 0.99994735 -0.00634677 -0.21429718] [ 0.00601154 0.00639534 0.99996148 -0.90394877] [ 0. 0. 0. 1. ]] SLAMing on 71.40719347 meters Centerline goodness [0,1] 0.9220280231368373 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.21, Z:-0.90 [[ 0.99994942 0.00802536 -0.0060628 3.12942822] [-0.00806383 0.99994735 -0.00634677 -0.21429718] [ 0.00601154 0.00639534 0.99996148 -0.90394877] [ 0. 0. 0. 1. ]] SLAMing on 71.43719347 meters Centerline goodness [0,1] 0.9211247567838986 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.22, Z:-0.90 [[ 0.99995322 0.0075467 -0.00604943 3.12985599] [-0.00758421 0.99995201 -0.00620187 -0.21616375] [ 0.00600234 0.00624746 0.99996247 -0.90448517] [ 0. 0. 0. 1. ]] SLAMing on 71.46719347 meters Centerline goodness [0,1] 0.9253822244623656 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.22, Z:-0.90 [[ 9.99978394e-01 2.93822365e-03 -5.88036980e-03 3.12910969e+00] [-2.99615023e-03 9.99946837e-01 -9.86639561e-03 -2.18076709e-01] [ 5.85106750e-03 9.88380091e-03 9.99934036e-01 -9.03669410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49719347 meters Centerline goodness [0,1] 0.9260705289672544 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.22, Z:-0.90 [[ 9.99979072e-01 2.28657767e-03 -6.05201897e-03 3.12931086e+00] [-2.34471388e-03 9.99951012e-01 -9.61648695e-03 -2.20102308e-01] [ 6.02973364e-03 9.63047595e-03 9.99935446e-01 -9.03357042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52719347 meters Centerline goodness [0,1] 0.922307449826626 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.22, Z:-0.90 [[ 9.99979436e-01 1.55469987e-03 -6.22176849e-03 3.12988748e+00] [-1.61371137e-03 9.99953658e-01 -9.49092822e-03 -2.21942313e-01] [ 6.20672462e-03 9.50077319e-03 9.99935604e-01 -9.03629002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55719347 meters Centerline goodness [0,1] 0.9030272683649413 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.22, Z:-0.91 [[ 0.99996467 -0.00391962 -0.00743605 3.13477406] [ 0.00381318 0.99989084 -0.0142745 -0.22213737] [ 0.00749119 0.01424564 0.99987046 -0.90694239] [ 0. 0. 0. 1. ]] SLAMing on 71.58719347 meters Centerline goodness [0,1] 0.8844430485762144 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.22, Z:-0.91 [[ 0.99996114 -0.00438809 -0.00764604 3.13570555] [ 0.00427818 0.99988814 -0.01433198 -0.22266687] [ 0.00770808 0.01429872 0.99986806 -0.90759132] [ 0. 0. 0. 1. ]] SLAMing on 71.61719347 meters Centerline goodness [0,1] 0.8753045450726707 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.22, Z:-0.91 [[ 0.99995803 -0.00477121 -0.00782121 3.13606526] [ 0.00465763 0.99988437 -0.01447617 -0.22268246] [ 0.00788938 0.01443914 0.99986463 -0.90758718] [ 0. 0. 0. 1. ]] SLAMing on 71.64719347 meters Centerline goodness [0,1] 0.8699256958146173 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.22, Z:-0.91 [[ 0.99995543 -0.00503054 -0.00798918 3.1363993 ] [ 0.00491397 0.99988215 -0.01454442 -0.22267304] [ 0.0080614 0.01450451 0.99986231 -0.90747732] [ 0. 0. 0. 1. ]] SLAMing on 71.67719347 meters Centerline goodness [0,1] 0.8621282303871225 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.22, Z:-0.91 [[ 9.99967373e-01 -2.16800422e-03 -7.78150362e-03 3.13581443e+00] [ 2.07921643e-03 9.99932855e-01 -1.14001183e-02 -2.21523754e-01] [ 7.80569663e-03 1.13835669e-02 9.99904738e-01 -9.07005703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70719347 meters Centerline goodness [0,1] 0.8593088489853803 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.22, Z:-0.91 [[ 9.99979637e-01 -3.25036417e-03 -5.49179276e-03 3.14543087e+00] [ 3.23816910e-03 9.99992275e-01 -2.22803358e-03 -2.19956631e-01] [ 5.49899225e-03 2.21020485e-03 9.99982438e-01 -9.08020191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73719347000001 meters Centerline goodness [0,1] 0.8578852520849922 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.22, Z:-0.91 [[ 9.99985831e-01 -1.30840740e-03 -5.16009948e-03 3.14422963e+00] [ 1.30641186e-03 9.99999071e-01 -3.90076901e-04 -2.17663316e-01] [ 5.16060506e-03 3.83330158e-04 9.99986611e-01 -9.07291900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76719347 meters Centerline goodness [0,1] 0.8984458342920493 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.21, Z:-0.91 [[ 9.99986696e-01 -9.78950881e-04 -5.06457793e-03 3.14407905e+00] [ 9.71894228e-04 9.99998554e-01 -1.39560838e-03 -2.13005882e-01] [ 5.06593684e-03 1.39066757e-03 9.99986201e-01 -9.07056631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79719347 meters Centerline goodness [0,1] 0.9061780104712042 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.21, Z:-0.91 [[ 9.99986854e-01 -8.14626663e-04 -5.06251404e-03 3.14371699e+00] [ 8.04549344e-04 9.99997692e-01 -1.99229388e-03 -2.10085267e-01] [ 5.06412533e-03 1.98819465e-03 9.99985201e-01 -9.06425512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82719347 meters Centerline goodness [0,1] 0.905822203672788 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.21, Z:-0.91 [[ 9.99983343e-01 2.29304331e-03 -5.29681542e-03 3.14409491e+00] [-2.28896960e-03 9.99997080e-01 7.75020034e-04 -2.07401860e-01] [ 5.29857710e-03 -7.62882875e-04 9.99985671e-01 -9.06173535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85719347 meters Centerline goodness [0,1] 0.9159637482470645 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.20, Z:-0.91 [[ 0.99995263 0.0077688 -0.00586347 3.14629882] [-0.00773977 0.99995776 0.00495691 -0.19940126] [ 0.00590173 -0.0049113 0.99997052 -0.90750082] [ 0. 0. 0. 1. ]] SLAMing on 71.88719347 meters Centerline goodness [0,1] 0.9195747342088806 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.19, Z:-0.91 [[ 0.99995268 0.0073916 -0.00632419 3.14835512] [-0.00736961 0.99996674 0.00349282 -0.19441731] [ 0.0063498 -0.00344605 0.9999739 -0.90889997] [ 0. 0. 0. 1. ]] SLAMing on 71.91719347 meters Centerline goodness [0,1] 0.9193389400390093 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.19, Z:-0.91 [[ 9.99954225e-01 7.04705068e-03 -6.47196074e-03 3.14901530e+00] [-7.03347397e-03 9.99973021e-01 2.11814388e-03 -1.89989399e-01] [ 6.48671280e-03 -2.07252655e-03 9.99976813e-01 -9.09302601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94719347 meters Centerline goodness [0,1] 0.9193615429379001 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.19, Z:-0.91 [[ 9.99943070e-01 7.99664386e-03 -7.06479960e-03 3.15137449e+00] [-7.97792025e-03 9.99964599e-01 2.67448637e-03 -1.86926638e-01] [ 7.08593642e-03 -2.61797170e-03 9.99971467e-01 -9.10628885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97719347 meters Centerline goodness [0,1] 0.9187105963177848 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.18, Z:-0.91 [[ 9.99951455e-01 6.83689720e-03 -7.09544594e-03 3.15114456e+00] [-6.83592790e-03 9.99976622e-01 1.60852483e-04 -1.80217357e-01] [ 7.09637980e-03 -1.12340717e-04 9.99974814e-01 -9.10129759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00719347 meters Centerline goodness [0,1] 0.92015503875969 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.18, Z:-0.91 [[ 9.99955844e-01 5.97505285e-03 -7.25317655e-03 3.15162728e+00] [-5.98437082e-03 9.99981295e-01 -1.26365118e-03 -1.76814910e-01] [ 7.24549050e-03 1.30700108e-03 9.99972897e-01 -9.10267480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03719347 meters Centerline goodness [0,1] 0.91758933064922 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.17, Z:-0.91 [[ 9.99959332e-01 5.15013999e-03 -7.40334616e-03 3.15205809e+00] [-5.16981196e-03 9.99983150e-01 -2.64049509e-03 -1.73389215e-01] [ 7.38962249e-03 2.67866162e-03 9.99969109e-01 -9.10340763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06719347 meters Centerline goodness [0,1] 0.9130489099881317 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.17, Z:-0.91 [[ 0.99996016 0.00452869 -0.0076922 3.15302647] [-0.00455698 0.99998291 -0.0036636 -0.1699876 ] [ 0.00767548 0.00369851 0.9999637 -0.91073584] [ 0. 0. 0. 1. ]] SLAMing on 72.09719347000001 meters Centerline goodness [0,1] 0.9032076063107304 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.16, Z:-0.91 [[ 0.99996179 0.00347085 -0.00802324 3.15456184] [-0.00351524 0.99997855 -0.00552599 -0.16329287] [ 0.00800388 0.00555398 0.99995254 -0.9117469 ] [ 0. 0. 0. 1. ]] SLAMing on 72.12719347 meters Centerline goodness [0,1] 0.8944677476575054 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.16, Z:-0.91 [[ 9.99960307e-01 3.07295684e-03 -8.36314299e-03 3.15607033e+00] [-3.12526684e-03 9.99975591e-01 -6.24896093e-03 -1.61197041e-01] [ 8.34373607e-03 6.27484994e-03 9.99945503e-01 -9.12785771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15719347 meters Centerline goodness [0,1] 0.8863977642445984 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.16, Z:-0.91 [[ 9.99959865e-01 2.46991667e-03 -8.61206887e-03 3.15715882e+00] [-2.53044682e-03 9.99972125e-01 -7.02472803e-03 -1.59493736e-01] [ 8.59447831e-03 7.04623847e-03 9.99938241e-01 -9.13528065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18719347 meters Centerline goodness [0,1] 0.8634229798243235 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.15, Z:-0.91 [[ 9.99961967e-01 5.44848339e-04 -8.70451616e-03 3.15719293e+00] [-6.24867315e-04 9.99957551e-01 -9.19273828e-03 -1.54635284e-01] [ 8.69913801e-03 9.19782781e-03 9.99919859e-01 -9.13234791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21719347 meters Centerline goodness [0,1] 0.8546317197558733 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.15, Z:-0.91 [[ 9.99961056e-01 -2.51296086e-04 -8.82171081e-03 3.15709590e+00] [ 1.62455284e-04 9.99949283e-01 -1.00699723e-02 -1.52535790e-01] [ 8.82379395e-03 1.00681470e-02 9.99910383e-01 -9.12701712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24719347 meters Centerline goodness [0,1] 0.8199153430283727 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.15, Z:-0.91 [[ 9.99959732e-01 -9.81310798e-04 -8.92026135e-03 3.15714961e+00] [ 8.86298969e-04 9.99942905e-01 -1.06489583e-02 -1.51790967e-01] [ 8.93020199e-03 1.06406235e-02 9.99903510e-01 -9.12431929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27719347 meters Centerline goodness [0,1] 0.7946309005691329 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.15, Z:-0.91 [[ 0.99993907 -0.00618051 -0.0091466 3.1579208 ] [ 0.00603427 0.9998549 -0.0159301 -0.14918338] [ 0.00924373 0.01587394 0.99983127 -0.91275464] [ 0. 0. 0. 1. ]] SLAMing on 72.30719347 meters Centerline goodness [0,1] 0.7867518521601599 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.15, Z:-0.92 [[ 0.99994158 -0.00956312 -0.00503855 3.16855743] [ 0.00952188 0.99992148 -0.00814656 -0.14952159] [ 0.00511606 0.00809811 0.99995412 -0.91588497] [ 0. 0. 0. 1. ]] SLAMing on 72.33719347 meters Centerline goodness [0,1] 0.7754902165079498 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.15, Z:-0.92 [[ 0.99993407 -0.01020016 -0.00527453 3.169746 ] [ 0.01015435 0.99991111 -0.00864028 -0.14844641] [ 0.0053622 0.00858616 0.99994876 -0.91674369] [ 0. 0. 0. 1. ]] SLAMing on 72.36719347 meters Centerline goodness [0,1] 0.7649180946787759 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.14, Z:-0.92 [[ 0.9999236 -0.01114779 -0.00534127 3.17048417] [ 0.01109457 0.99988952 -0.00989198 -0.14483853] [ 0.00545095 0.00983196 0.99993681 -0.91737885] [ 0. 0. 0. 1. ]] SLAMing on 72.39719347 meters Centerline goodness [0,1] 0.750878871715932 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.14, Z:-0.92 [[ 0.9999204 -0.01133797 -0.00553563 3.17064413] [ 0.01127835 0.99987929 -0.0106863 -0.14166925] [ 0.00565612 0.01062302 0.99992758 -0.91680601] [ 0. 0. 0. 1. ]] SLAMing on 72.42719347 meters Centerline goodness [0,1] 0.7505729405391891 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.14, Z:-0.92 [[ 0.99995273 -0.00799079 -0.00553904 3.17019586] [ 0.00794827 0.99993911 -0.00765579 -0.13905424] [ 0.00559988 0.0076114 0.99995535 -0.91612039] [ 0. 0. 0. 1. ]] SLAMing on 72.45719347 meters Centerline goodness [0,1] 0.7939858711734428 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.13, Z:-0.91 [[ 9.99984591e-01 -1.63338348e-03 -5.30563704e-03 3.16897837e+00] [ 1.61526761e-03 9.99992858e-01 -3.41694967e-03 -1.29819728e-01] [ 5.31118033e-03 3.40832700e-03 9.99980087e-01 -9.14463212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48719347000001 meters Centerline goodness [0,1] 0.8024724929925113 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.12, Z:-0.91 [[ 9.99984692e-01 1.66172066e-03 -5.27780374e-03 3.16860592e+00] [-1.66918223e-03 9.99997613e-01 -1.40967288e-03 -1.24408631e-01] [ 5.27544866e-03 1.41846091e-03 9.99985079e-01 -9.13706068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51719347 meters Centerline goodness [0,1] 0.8221515810607328 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.12, Z:-0.91 [[ 9.99974488e-01 4.75914167e-03 -5.32679229e-03 3.16900475e+00] [-4.75617832e-03 9.99988528e-01 5.68839870e-04 -1.19141335e-01] [ 5.32943836e-03 -5.43490183e-04 9.99985651e-01 -9.13780550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54719347 meters Centerline goodness [0,1] 0.8203930076348617 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.11, Z:-0.91 [[ 9.99957510e-01 7.42102353e-03 -5.46867313e-03 3.16988963e+00] [-7.40925709e-03 9.99970199e-01 2.16873564e-03 -1.13312598e-01] [ 5.48460439e-03 -2.12812469e-03 9.99982695e-01 -9.14263638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57719347 meters Centerline goodness [0,1] 0.8387460343963934 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.11, Z:-0.92 [[ 0.99993689 0.00969694 -0.00567408 3.17116716] [-0.00967762 0.99994731 0.00342338 -0.1068515 ] [ 0.00570698 -0.00336825 0.99997804 -0.91508936] [ 0. 0. 0. 1. ]] SLAMing on 72.60719347 meters Centerline goodness [0,1] 0.8396335441575088 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.10, Z:-0.92 [[ 0.99991601 0.01149158 -0.00599273 3.17245351] [-0.01146575 0.9999249 0.00432692 -0.10032766] [ 0.006042 -0.00425785 0.99997268 -0.91571017] [ 0. 0. 0. 1. ]] SLAMing on 72.63719347 meters Centerline goodness [0,1] 0.817734807776095 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.09, Z:-0.92 [[ 9.99965125e-01 7.44247076e-03 -3.78915836e-03 3.19004296e+00] [-7.45078314e-03 9.99969857e-01 -2.18435700e-03 -8.77365829e-02] [ 3.77278713e-03 2.21251302e-03 9.99990435e-01 -9.16345031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66719347 meters Centerline goodness [0,1] 0.815466278101582 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.08, Z:-0.92 [[ 0.99997338 0.00618995 -0.00386238 3.19007473] [-0.00620607 0.99997202 -0.00417654 -0.08350494] [ 0.00383642 0.0042004 0.99998382 -0.91606755] [ 0. 0. 0. 1. ]] SLAMing on 72.69719347 meters Centerline goodness [0,1] 0.8132832343248179 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.08, Z:-0.92 [[ 0.99997939 0.00509449 -0.00390633 3.19006623] [-0.00511794 0.99996881 -0.00601535 -0.0790025 ] [ 0.00387556 0.00603521 0.99997428 -0.91580085] [ 0. 0. 0. 1. ]] SLAMing on 72.72719347 meters Centerline goodness [0,1] 0.7882585059714964 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.92 [[ 0.99998133 0.00415107 -0.00448455 3.19223677] [-0.0041843 0.99996368 -0.00742457 -0.06914545] [ 0.00445357 0.00744319 0.99996238 -0.91725348] [ 0. 0. 0. 1. ]] SLAMing on 72.75719347 meters Centerline goodness [0,1] 0.7843042546936032 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.92 [[ 0.99998172 0.00367399 -0.00480181 3.19364548] [-0.00371415 0.99995797 -0.00838253 -0.06513009] [ 0.00477081 0.00840021 0.99995334 -0.91813044] [ 0. 0. 0. 1. ]] SLAMing on 72.78719347 meters Centerline goodness [0,1] 0.7796346513632255 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.06, Z:-0.92 [[ 0.99997949 0.00369641 -0.00522973 3.19581445] [-0.00374226 0.9999544 -0.0087864 -0.06181805] [ 0.00519701 0.00880579 0.99994772 -0.91974058] [ 0. 0. 0. 1. ]] SLAMing on 72.81719347 meters Centerline goodness [0,1] 0.7676776121898711 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.05, Z:-0.92 [[ 9.99943372e-01 1.51956824e-03 -1.05329591e-02 3.20654952e+00] [-1.57806143e-03 9.99983369e-01 -5.54726366e-03 -5.25199747e-02] [ 1.05243544e-02 5.56357119e-03 9.99929140e-01 -9.19032490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84719347000001 meters Centerline goodness [0,1] 0.7718033338238076 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.05, Z:-0.92 [[ 0.99993811 0.00398863 -0.01038578 3.20585404] [-0.00402614 0.99998544 -0.0035932 -0.04866019] [ 0.0103713 0.00363479 0.99993961 -0.91843384] [ 0. 0. 0. 1. ]] SLAMing on 72.87719347 meters Centerline goodness [0,1] 0.7645149808421097 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.04, Z:-0.92 [[ 0.99993078 0.00448768 -0.01087598 3.20775081] [-0.00452937 0.99998248 -0.00381195 -0.04440664] [ 0.01085869 0.00386095 0.99993359 -0.91936845] [ 0. 0. 0. 1. ]] SLAMing on 72.90719347 meters Centerline goodness [0,1] 0.778559906144596 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.03, Z:-0.92 [[ 0.99991838 0.00705023 -0.010655 3.20699053] [-0.00708603 0.99996936 -0.00332641 -0.03457634] [ 0.01063122 0.00340164 0.9999377 -0.9181438 ] [ 0. 0. 0. 1. ]] SLAMing on 72.93719347 meters Centerline goodness [0,1] 0.7980341090481391 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.03, Z:-0.92 [[ 9.99890279e-01 1.01123622e-02 -1.08245238e-02 3.20755084e+00] [-1.01235644e-02 9.99948275e-01 -9.80593494e-04 -3.05236242e-02] [ 1.08140478e-02 1.09006867e-03 9.99940932e-01 -9.18221115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96719347 meters Centerline goodness [0,1] 0.7978788196996744 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.03, Z:-0.92 [[ 9.99889385e-01 9.99601788e-03 -1.10135392e-02 3.20789571e+00] [-1.00238275e-02 9.99946703e-01 -2.47273753e-03 -2.51432012e-02] [ 1.09882347e-02 2.58286183e-03 9.99936292e-01 -9.17711578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99719347 meters Centerline goodness [0,1] 0.8271682471895999 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.02, Z:-0.92 [[ 9.99853492e-01 1.28915993e-02 -1.12606435e-02 3.20919067e+00] [-1.29074935e-02 9.99915797e-01 -1.33993931e-03 -1.69384073e-02] [ 1.12424214e-02 1.48508968e-03 9.99935699e-01 -9.18126232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02719347 meters Centerline goodness [0,1] 0.8504649461916205 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.01, Z:-0.92 [[ 9.99853415e-01 1.28229853e-02 -1.13454914e-02 3.20956641e+00] [-1.28544326e-02 9.99913724e-01 -2.70322191e-03 -1.12002874e-02] [ 1.13098492e-02 2.84866551e-03 9.99931984e-01 -9.17808277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05719347 meters Centerline goodness [0,1] 0.8231295362797799 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.01, Z:-0.92 [[ 9.99811236e-01 1.58156550e-02 -1.12852921e-02 3.20908013e+00] [-1.58239076e-02 9.99874588e-01 -6.42342727e-04 -6.32001493e-03] [ 1.12737178e-02 8.20798895e-04 9.99936113e-01 -9.16933311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08719347 meters Centerline goodness [0,1] 0.8841019417475728 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.00, Z:-0.92 [[ 9.99752394e-01 1.91105093e-02 -1.13990770e-02 3.20934856e+00] [-1.90930639e-02 9.99816370e-01 1.63730271e-03 -1.42749042e-03] [ 1.14282735e-02 -1.41925400e-03 9.99933688e-01 -9.16508894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11719347 meters Centerline goodness [0,1] 0.9191685912240185 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.92 [[ 0.99953708 0.02772067 -0.01253777 3.21348036] [-0.02762494 0.99958836 0.00774484 0.00549556] [ 0.0127473 -0.0073949 0.9998914 -0.91810883] [ 0. 0. 0. 1. ]] SLAMing on 73.14719347 meters Centerline goodness [0,1] 0.9297248552973744 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.92 [[ 0.99941086 0.03187311 -0.01272945 3.21454368] [-0.0317367 0.99943815 0.01077828 0.00855654] [ 0.01306584 -0.01036794 0.99986089 -0.91839947] [ 0. 0. 0. 1. ]] SLAMing on 73.17719347 meters Centerline goodness [0,1] 0.9323703626727632 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.92 [[ 0.99923909 0.03643682 -0.01391415 3.21724873] [-0.03624691 0.99924943 0.01366532 0.01165133] [ 0.01440162 -0.01315058 0.99980981 -0.91809344] [ 0. 0. 0. 1. ]] SLAMing on 73.20719347 meters Centerline goodness [0,1] 0.931958762886598 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.92 [[ 0.99908683 0.04035674 -0.01402972 3.21787474] [-0.04012109 0.99905541 0.01669085 0.01504159] [ 0.01469005 -0.01611272 0.99976226 -0.91801539] [ 0. 0. 0. 1. ]] SLAMing on 73.23719347000001 meters Centerline goodness [0,1] 0.9298234578773011 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.92 [[ 0.9989122 0.04449689 -0.01394447 3.21771182] [-0.04422047 0.99883066 0.0195412 0.02001519] [ 0.01479769 -0.01890332 0.99971181 -0.91708905] [ 0. 0. 0. 1. ]] SLAMing on 73.26719347 meters Centerline goodness [0,1] 0.9273146691831813 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.92 [[ 0.99904527 0.04125722 -0.01436656 3.2184508 ] [-0.04103499 0.9990385 0.01543388 0.02215563] [ 0.0149895 -0.01482962 0.99977767 -0.91691281] [ 0. 0. 0. 1. ]] SLAMing on 73.29719347 meters Centerline goodness [0,1] 0.9275188916876574 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.92 [[ 0.9991733 0.03781763 -0.0149176 3.22001043] [-0.03764553 0.99922321 0.01165324 0.02222018] [ 0.01534671 -0.01108203 0.99982082 -0.91775493] [ 0. 0. 0. 1. ]] SLAMing on 73.32719347 meters Centerline goodness [0,1] 0.9275188916876574 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.92 [[ 0.9991733 0.03781763 -0.0149176 3.22001043] [-0.03764553 0.99922321 0.01165324 0.02222018] [ 0.01534671 -0.01108203 0.99982082 -0.91775493] [ 0. 0. 0. 1. ]] SLAMing on 73.35719347 meters Centerline goodness [0,1] 0.9252336448598131 Centerline is valid? [False, False] Translation: X:3.24, Y:0.02, Z:-0.92 [[ 0.99929737 0.03276517 -0.01819931 3.2419935 ] [-0.03254528 0.99939519 0.01224986 0.01721377] [ 0.01858967 -0.01164895 0.99975933 -0.92087008] [ 0. 0. 0. 1. ]] SLAMing on 73.38719347 meters Centerline goodness [0,1] 0.9232383871035452 Centerline is valid? [False, False] Translation: X:3.24, Y:0.02, Z:-0.92 [[ 0.99940166 0.0292575 -0.01844778 3.24251324] [-0.02910026 0.99953833 0.00873534 0.01665322] [ 0.01869484 -0.00819327 0.99979166 -0.92100664] [ 0. 0. 0. 1. ]] SLAMing on 73.41719347 meters Centerline goodness [0,1] 0.92379256155055 Centerline is valid? [False, False] Translation: X:3.26, Y:0.01, Z:-0.92 [[ 0.99957906 0.02571021 -0.01344209 3.25534913] [-0.02551264 0.99956689 0.01466788 0.01348721] [ 0.01381338 -0.01431876 0.99980206 -0.92486369] [ 0. 0. 0. 1. ]] SLAMing on 73.44719347 meters Centerline goodness [0,1] 0.9220991693934055 Centerline is valid? [False, False] Translation: X:3.25, Y:0.01, Z:-0.92 [[ 0.99965629 0.02237595 -0.01366105 3.2544602 ] [-0.02221176 0.99968061 0.01205506 0.00890014] [ 0.01392643 -0.01174748 0.99983401 -0.9232304 ] [ 0. 0. 0. 1. ]] SLAMing on 73.47719347 meters Centerline goodness [0,1] 0.9232788251223831 Centerline is valid? [False, False] Translation: X:3.27, Y:0.00, Z:-0.92 [[ 0.99978414 0.01811153 -0.01018101 3.27023753] [-0.01797117 0.99974446 0.0137135 0.00447327] [ 0.01042678 -0.01352757 0.99985413 -0.92357823] [ 0. 0. 0. 1. ]] SLAMing on 73.50719347 meters Centerline goodness [0,1] 0.9199580492920818 Centerline is valid? [False, False] Translation: X:3.27, Y:0.00, Z:-0.92 [[ 9.99841763e-01 1.44550443e-02 -1.03682176e-02 3.27047753e+00] [-1.43436102e-02 9.99839415e-01 1.07426947e-02 6.02362376e-04] [ 1.05218387e-02 -1.05922772e-02 9.99888541e-01 -9.23495140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53719347 meters Centerline goodness [0,1] 0.9193987925540835 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.92 [[ 9.99915012e-01 7.41821601e-03 -1.07209851e-02 3.27111741e+00] [-7.37782060e-03 9.99965554e-01 3.80253403e-03 -1.28483010e-03] [ 1.07488238e-02 -3.72311336e-03 9.99935299e-01 -9.23321346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56719347 meters Centerline goodness [0,1] 0.9155082900686652 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.01, Z:-0.92 [[ 9.99936669e-01 1.15748868e-03 -1.11945963e-02 3.27181145e+00] [-1.16559554e-03 9.99999063e-01 -7.17678858e-04 -9.42291782e-03] [ 1.11937551e-02 7.30681778e-04 9.99937081e-01 -9.23222336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59719347000001 meters Centerline goodness [0,1] 0.9082216770459836 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.01, Z:-0.92 [[ 9.99931876e-01 -1.97874173e-03 -1.15033836e-02 3.27310044e+00] [ 1.94579743e-03 9.99993976e-01 -2.87436607e-03 -1.37269072e-02] [ 1.15090019e-02 2.85178700e-03 9.99929703e-01 -9.24082201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62719347 meters Centerline goodness [0,1] 0.9011901757927496 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:-0.93 [[ 0.99991645 -0.00524084 -0.01181618 3.27451214] [ 0.00518034 0.99997335 -0.00514489 -0.01785393] [ 0.01184283 0.00508325 0.99991695 -0.92510692] [ 0. 0. 0. 1. ]] SLAMing on 73.65719347 meters Centerline goodness [0,1] 0.8787426094640941 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.02, Z:-0.93 [[ 0.99984872 -0.01238449 -0.0122132 3.27534685] [ 0.01225452 0.99986809 -0.01065933 -0.02474504] [ 0.0123436 0.01050806 0.9998686 -0.92507037] [ 0. 0. 0. 1. ]] SLAMing on 73.68719347 meters Centerline goodness [0,1] 0.8710313299500901 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.93 [[ 0.99983594 -0.01668311 -0.00705394 3.28644203] [ 0.01665694 0.99985422 -0.00375207 -0.03024941] [ 0.00711551 0.00363396 0.99996808 -0.92866641] [ 0. 0. 0. 1. ]] SLAMing on 73.71719347 meters Centerline goodness [0,1] 0.874244078615824 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.03, Z:-0.93 [[ 9.99825752e-01 -1.72354028e-02 -7.16982356e-03 3.28681507e+00] [ 1.72129743e-02 9.99846794e-01 -3.17822365e-03 -3.49178552e-02] [ 7.22350307e-03 3.05425586e-03 9.99969246e-01 -9.28923041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74719347 meters Centerline goodness [0,1] 0.8558824762144264 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.93 [[ 9.99821653e-01 -1.73606737e-02 -7.43439136e-03 3.28748120e+00] [ 1.73439877e-02 9.99846929e-01 -2.30305766e-03 -3.86283863e-02] [ 7.47323600e-03 2.17370492e-03 9.99969712e-01 -9.29181907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77719347 meters Centerline goodness [0,1] 0.8527118786151395 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.04, Z:-0.93 [[ 0.99976182 -0.02043013 -0.00767609 3.2878785 ] [ 0.02039465 0.99978109 -0.00467239 -0.04286538] [ 0.00776987 0.00451472 0.99995962 -0.9287899 ] [ 0. 0. 0. 1. ]] SLAMing on 73.80719347 meters Centerline goodness [0,1] 0.8464224119799773 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.93 [[ 0.99976617 -0.02015021 -0.00784729 3.28830901] [ 0.02012109 0.99979044 -0.00377118 -0.04566574] [ 0.00792164 0.0036124 0.9999621 -0.92889641] [ 0. 0. 0. 1. ]] SLAMing on 73.83719347 meters Centerline goodness [0,1] 0.8423143205413812 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.93 [[ 9.99773108e-01 -1.97274692e-02 -8.03484872e-03 3.28887039e+00] [ 1.97057163e-02 9.99801965e-01 -2.77755725e-03 -4.83515837e-02] [ 8.08805172e-03 2.61859459e-03 9.99963863e-01 -9.29087484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86719347 meters Centerline goodness [0,1] 0.8339391660399431 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.93 [[ 9.99781514e-01 -1.92769149e-02 -8.08242487e-03 3.28894912e+00] [ 1.92659242e-02 9.99813364e-01 -1.43549224e-03 -5.17453933e-02] [ 8.10858826e-03 1.27946322e-03 9.99966306e-01 -9.28953858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89719347 meters Centerline goodness [0,1] 0.8286104687828464 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.93 [[ 9.99788388e-01 -1.88401629e-02 -8.25999262e-03 3.28937330e+00] [ 1.88346677e-02 9.99822336e-01 -7.42560201e-04 -5.27352747e-02] [ 8.27251507e-03 5.86828850e-04 9.99965610e-01 -9.28987574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92719347 meters Centerline goodness [0,1] 0.8171726656233699 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.05, Z:-0.93 [[ 9.99798717e-01 -1.80661809e-02 -8.72576452e-03 3.29144349e+00] [ 1.80700021e-02 9.99836660e-01 3.59278660e-04 -5.40413628e-02] [ 8.71784845e-03 -5.16880927e-04 9.99961865e-01 -9.30432047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95719347 meters Centerline goodness [0,1] 0.8212757926522396 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.06, Z:-0.93 [[ 9.99803000e-01 -1.77202049e-02 -8.94175176e-03 3.29243643e+00] [ 1.77289693e-02 9.99842423e-01 9.01852347e-04 -5.50978198e-02] [ 8.92436174e-03 -1.06020273e-03 9.99959615e-01 -9.31180386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98719347000001 meters Centerline goodness [0,1] 0.8285600553099662 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.06, Z:-0.93 [[ 9.99819418e-01 -1.66339618e-02 -9.18929650e-03 3.29414288e+00] [ 1.66576100e-02 9.99858120e-01 2.50292809e-03 -5.81995313e-02] [ 9.14635911e-03 -2.65554783e-03 9.99954645e-01 -9.32693520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01719347 meters Centerline goodness [0,1] 0.8191275589232637 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.06, Z:-0.93 [[ 9.99823641e-01 -1.62554052e-02 -9.40474142e-03 3.29486549e+00] [ 1.62844180e-02 9.99862850e-01 3.01659737e-03 -5.91688494e-02] [ 9.35441554e-03 -3.16921610e-03 9.99951224e-01 -9.32974780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04719347 meters Centerline goodness [0,1] 0.8515524951189302 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.06, Z:-0.93 [[ 9.99830067e-01 -1.57733465e-02 -9.54141171e-03 3.29539641e+00] [ 1.58053553e-02 9.99869679e-01 3.28867317e-03 -5.86599091e-02] [ 9.48829489e-03 -3.43891972e-03 9.99949072e-01 -9.33234569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07719347 meters Centerline goodness [0,1] 0.8584909617078388 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.06, Z:-0.93 [[ 0.99984212 -0.01454542 -0.01020661 3.29757554] [ 0.01458659 0.99988572 0.00397098 -0.05665999] [ 0.01014768 -0.00411923 0.99994003 -0.93419864] [ 0. 0. 0. 1. ]] SLAMing on 74.10719347 meters Centerline goodness [0,1] 0.8682570429949046 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.05, Z:-0.93 [[ 0.9999215 -0.00691507 -0.01044919 3.29813779] [ 0.00702677 0.99991816 0.01069105 -0.05303454] [ 0.0103744 -0.01076364 0.99988825 -0.934318 ] [ 0. 0. 0. 1. ]] SLAMing on 74.13719347 meters Centerline goodness [0,1] 0.884161348183373 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.05, Z:-0.94 [[ 9.99980797e-01 -3.27055274e-03 -5.26401828e-03 3.30765970e+00] [ 3.29540620e-03 9.99983432e-01 4.71965843e-03 -4.99026521e-02] [ 5.24849517e-03 -4.73691488e-03 9.99975007e-01 -9.36259321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16719347 meters Centerline goodness [0,1] 0.9026559785679902 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.05, Z:-0.94 [[ 9.99983478e-01 -2.42789366e-03 -5.21047894e-03 3.30761569e+00] [ 2.45089888e-03 9.99987258e-01 4.41334911e-03 -4.72910352e-02] [ 5.19969740e-03 -4.42604655e-03 9.99976686e-01 -9.35817537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19719347 meters Centerline goodness [0,1] 0.9149973725696269 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.94 [[ 9.99995359e-01 2.86203873e-03 1.04432267e-03 3.29890988e+00] [-2.86164428e-03 9.99995834e-01 -3.79001840e-04 -4.11761718e-02] [-1.04540303e-03 3.76011601e-04 9.99999383e-01 -9.36446052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22719347 meters Centerline goodness [0,1] 0.9139024339200134 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.94 [[ 9.99994980e-01 3.08738449e-03 7.12981955e-04 3.29964539e+00] [-3.08670111e-03 9.99994778e-01 -9.57608245e-04 -3.77078155e-02] [-7.15934736e-04 9.55402676e-04 9.99999287e-01 -9.36208794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25719347 meters Centerline goodness [0,1] 0.9158734134936539 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.03, Z:-0.94 [[ 9.99994786e-01 3.21282944e-03 3.25042509e-04 3.30023564e+00] [-3.21228735e-03 9.99993471e-01 -1.65475735e-03 -3.38545119e-02] [-3.30356840e-04 1.65370459e-03 9.99998578e-01 -9.35590760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28719347 meters Centerline goodness [0,1] 0.915901948460088 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.03, Z:-0.93 [[ 9.99994392e-01 3.34735428e-03 1.04928997e-04 3.30045375e+00] [-3.34709404e-03 9.99991544e-01 -2.38927794e-03 -3.02679306e-02] [-1.12925870e-04 2.38891333e-03 9.99997140e-01 -9.34970312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31719347 meters Centerline goodness [0,1] 0.9147425994739259 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.03, Z:-0.94 [[ 9.99988368e-01 4.78866204e-03 -5.76551706e-04 3.30345718e+00] [-4.78985261e-03 9.99986362e-01 -2.08162457e-03 -2.75439282e-02] [ 5.66575647e-04 2.08436196e-03 9.99997667e-01 -9.36810919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34719347000001 meters Centerline goodness [0,1] 0.9149853207570742 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.94 [[ 9.99989818e-01 4.35187343e-03 -1.19380552e-03 3.30685733e+00] [-4.35514231e-03 9.99986737e-01 -2.74940356e-03 -2.71391493e-02] [ 1.18182463e-03 2.75457476e-03 9.99995508e-01 -9.39539401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37719347 meters Centerline goodness [0,1] 0.916619905646653 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.94 [[ 9.99988686e-01 4.50118006e-03 -1.53830081e-03 3.30833949e+00] [-4.50512570e-03 9.99986546e-01 -2.57116560e-03 -2.76361755e-02] [ 1.52670683e-03 2.57806675e-03 9.99995511e-01 -9.40609784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40719347 meters Centerline goodness [0,1] 0.9147456238048206 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.94 [[ 9.99989553e-01 4.27074860e-03 -1.62917395e-03 3.30844971e+00] [-4.27466278e-03 9.99987967e-01 -2.40668684e-03 -2.82305282e-02] [ 1.61887599e-03 2.41362587e-03 9.99995777e-01 -9.40476519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43719347 meters Centerline goodness [0,1] 0.9157593362730141 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.94 [[ 9.99989424e-01 4.15970326e-03 -1.96205800e-03 3.30913840e+00] [-4.16382924e-03 9.99989119e-01 -2.10350541e-03 -2.93998088e-02] [ 1.95328669e-03 2.11165284e-03 9.99995863e-01 -9.40508678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46719347 meters Centerline goodness [0,1] 0.9134133088112356 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.94 [[ 9.99989713e-01 3.98746509e-03 -2.16204617e-03 3.30945604e+00] [-3.99148108e-03 9.99990311e-01 -1.85637316e-03 -3.08250086e-02] [ 2.15462300e-03 1.86498383e-03 9.99995940e-01 -9.40386381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49719347 meters Centerline goodness [0,1] 0.9126632072313358 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.94 [[ 9.99986987e-01 4.45216758e-03 -2.49079068e-03 3.31060898e+00] [-4.45453755e-03 9.99989630e-01 -9.46757988e-04 -3.36098532e-02] [ 2.48654973e-03 9.57840988e-04 9.99996450e-01 -9.40996153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52719347 meters Centerline goodness [0,1] 0.9115717549412086 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.03, Z:-0.94 [[ 9.99985613e-01 4.61302939e-03 -2.73750266e-03 3.31155270e+00] [-4.61473316e-03 9.99989162e-01 -6.16390962e-04 -3.48947235e-02] [ 2.73462956e-03 6.29014938e-04 9.99996063e-01 -9.41634062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55719347 meters Centerline goodness [0,1] 0.9111148414713474 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.04, Z:-0.94 [[ 9.99983897e-01 4.81705425e-03 -3.00031673e-03 3.31247599e+00] [-4.81760535e-03 9.99988380e-01 -1.76482043e-04 -3.68278171e-02] [ 2.99943175e-03 1.90933543e-04 9.99995483e-01 -9.42204037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58719347 meters Centerline goodness [0,1] 0.913518262834191 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.04, Z:-0.94 [[ 9.99986792e-01 3.77346533e-03 -3.48954566e-03 3.31498045e+00] [-3.77771954e-03 9.99992128e-01 -1.21334179e-03 -3.77489800e-02] [ 3.48493968e-03 1.22650829e-03 9.99993175e-01 -9.43971054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61719347 meters Centerline goodness [0,1] 0.9124593261257479 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.04, Z:-0.94 [[ 9.99985307e-01 4.02028648e-03 -3.63636817e-03 3.31518288e+00] [-4.02284414e-03 9.99991666e-01 -6.96317220e-04 -3.94042316e-02] [ 3.63353847e-03 7.10935531e-04 9.99993146e-01 -9.43801311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64719347 meters Centerline goodness [0,1] 0.9131226454583508 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.04, Z:-0.94 [[ 9.99987734e-01 3.38619617e-03 -3.61476236e-03 3.31402396e+00] [-3.38800436e-03 9.99994139e-01 -4.94215450e-04 -4.27074280e-02] [ 3.61306766e-03 5.06456219e-04 9.99993345e-01 -9.42118683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67719347 meters Centerline goodness [0,1] 0.9127311344327836 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.04, Z:-0.94 [[ 9.99992435e-01 2.16784985e-05 -3.88965392e-03 3.31459536e+00] [-3.57984092e-05 9.99993411e-01 -3.63008715e-03 -4.41988204e-02] [ 3.88954960e-03 3.63019893e-03 9.99985846e-01 -9.41961607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70719347 meters Centerline goodness [0,1] 0.9094176246821211 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.05, Z:-0.94 [[ 0.99998545 -0.003592 -0.00402342 3.31480595] [ 0.00356463 0.99997059 -0.00679066 -0.04674856] [ 0.0040477 0.00677622 0.99996885 -0.9418323 ] [ 0. 0. 0. 1. ]] SLAMing on 74.73719347000001 meters Centerline goodness [0,1] 0.9066162570888469 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.05, Z:-0.94 [[ 0.99993512 -0.01073535 -0.00380814 3.31418606] [ 0.01068554 0.9998601 -0.01286821 -0.0521974 ] [ 0.00394575 0.01282668 0.99990995 -0.94128641] [ 0. 0. 0. 1. ]] SLAMing on 74.76719347 meters Centerline goodness [0,1] 0.9072401042104379 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.05, Z:-0.94 [[ 0.99993321 -0.01089194 -0.00386441 3.31421006] [ 0.01084423 0.99986727 -0.0121592 -0.05490045] [ 0.00399633 0.01211648 0.99991861 -0.94114163] [ 0. 0. 0. 1. ]] SLAMing on 74.79719347 meters Centerline goodness [0,1] 0.8960889890641957 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.06, Z:-0.94 [[ 0.99993242 -0.01087308 -0.00411479 3.31476675] [ 0.01082496 0.99987482 -0.01154001 -0.05677697] [ 0.00423975 0.01149469 0.99992495 -0.94120026] [ 0. 0. 0. 1. ]] SLAMing on 74.82719347 meters Centerline goodness [0,1] 0.8981719957283749 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.06, Z:-0.94 [[ 0.99993175 -0.01087663 -0.00426511 3.31481468] [ 0.01083141 0.99988636 -0.01048578 -0.06071274] [ 0.00437867 0.01043887 0.99993593 -0.940859 ] [ 0. 0. 0. 1. ]] SLAMing on 74.85719347 meters Centerline goodness [0,1] 0.8806561203860022 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.06, Z:-0.94 [[ 0.99993279 -0.0107131 -0.0044332 3.3154536 ] [ 0.01066968 0.99989597 -0.0097058 -0.06310082] [ 0.00453672 0.00965785 0.99994307 -0.94125575] [ 0. 0. 0. 1. ]] SLAMing on 74.88719347 meters Centerline goodness [0,1] 0.8856192050901024 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.06, Z:-0.94 [[ 0.99993448 -0.01050514 -0.00454737 3.31588454] [ 0.01046396 0.99990486 -0.00898768 -0.06483759] [ 0.00464135 0.00893951 0.99994927 -0.94155167] [ 0. 0. 0. 1. ]] SLAMing on 74.91719347 meters Centerline goodness [0,1] 0.8813144518585144 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.94 [[ 0.99996362 -0.00704833 -0.0048047 3.31652773] [ 0.00702672 0.99996519 -0.004499 -0.06744692] [ 0.00483624 0.00446508 0.99997834 -0.94201032] [ 0. 0. 0. 1. ]] SLAMing on 74.94719347 meters Centerline goodness [0,1] 0.8833931852346751 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.94 [[ 0.9999673 -0.0061729 -0.00522367 3.31828517] [ 0.00615486 0.99997506 -0.00346388 -0.06817942] [ 0.00524492 0.00343161 0.99998036 -0.94310371] [ 0. 0. 0. 1. ]] SLAMing on 74.97719347 meters Centerline goodness [0,1] 0.8984914290510061 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.94 [[ 9.99984050e-01 -2.87800954e-03 -4.85977234e-03 3.31685612e+00] [ 2.87660838e-03 9.99995819e-01 -2.95283171e-04 -6.89692853e-02] [ 4.86060185e-03 2.81298799e-04 9.99988148e-01 -9.42033799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00719347 meters Centerline goodness [0,1] 0.9010652269079236 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.94 [[ 9.99985203e-01 -1.30337008e-03 -5.28166400e-03 3.31886669e+00] [ 1.30765454e-03 9.99998819e-01 8.07823935e-04 -6.85151675e-02] [ 5.28060487e-03 -8.14718573e-04 9.99985726e-01 -9.43208694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03719347 meters Centerline goodness [0,1] 0.9053263126979798 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.94 [[ 9.99988037e-01 5.74883348e-04 -4.85744403e-03 3.31792532e+00] [-5.65514321e-04 9.99997978e-01 1.92995106e-03 -6.72051247e-02] [ 4.85854371e-03 -1.92718102e-03 9.99986340e-01 -9.42691574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06719347 meters Centerline goodness [0,1] 0.908232175541203 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.94 [[ 0.99997201 0.00550766 -0.00506461 3.31944363] [-0.00547729 0.99996705 0.00599162 -0.06544131] [ 0.00509744 -0.00596371 0.99996922 -0.94400341] [ 0. 0. 0. 1. ]] SLAMing on 75.09719347000001 meters Centerline goodness [0,1] 0.907844293718667 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.06, Z:-0.94 [[ 0.99996848 0.00590432 -0.00530897 3.32051452] [-0.00587272 0.99996507 0.00594782 -0.06449093] [ 0.0053439 -0.00591645 0.99996822 -0.94472319] [ 0. 0. 0. 1. ]] SLAMing on 75.12719347 meters Centerline goodness [0,1] 0.9052007068921989 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.06, Z:-0.95 [[ 0.99996571 0.00604802 -0.00565688 3.32177042] [-0.0060141 0.99996395 0.00599494 -0.06443414] [ 0.00569293 -0.00596072 0.99996603 -0.94550196] [ 0. 0. 0. 1. ]] SLAMing on 75.15719347 meters Centerline goodness [0,1] 0.90368581329413 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.06, Z:-0.95 [[ 9.99975512e-01 3.24317546e-03 -6.20139489e-03 3.32420653e+00] [-3.22442850e-03 9.99990209e-01 3.03063613e-03 -6.46939640e-02] [ 6.21116306e-03 -3.01056596e-03 9.99976179e-01 -9.47249000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18719347 meters Centerline goodness [0,1] 0.9017087714123175 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.95 [[ 9.99979714e-01 -2.63132682e-04 -6.36416835e-03 3.32496556e+00] [ 2.61799609e-04 9.99999944e-01 -2.10297567e-04 -6.59805783e-02] [ 6.36422333e-03 2.08627164e-04 9.99979726e-01 -9.47796556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21719347 meters Centerline goodness [0,1] 0.9017087714123175 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.95 [[ 9.99979714e-01 -2.63132682e-04 -6.36416835e-03 3.32496556e+00] [ 2.61799609e-04 9.99999944e-01 -2.10297567e-04 -6.59805783e-02] [ 6.36422333e-03 2.08627164e-04 9.99979726e-01 -9.47796556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24719347 meters Centerline goodness [0,1] 0.8939825678846799 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.95 [[ 0.99995742 -0.00699176 -0.00602251 3.32302432] [ 0.00695754 0.99995964 -0.00568454 -0.06995296] [ 0.00606201 0.00564239 0.99996571 -0.94580667] [ 0. 0. 0. 1. ]] SLAMing on 75.27719347 meters Centerline goodness [0,1] 0.8876208856909102 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.07, Z:-0.95 [[ 0.9999547 -0.00726424 -0.00615121 3.32308904] [ 0.00723364 0.99996142 -0.00498245 -0.07311301] [ 0.00618717 0.00493773 0.99996867 -0.94556959] [ 0. 0. 0. 1. ]] SLAMing on 75.30719347 meters Centerline goodness [0,1] 0.8835553514010106 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.08, Z:-0.95 [[ 0.99995264 -0.00729564 -0.00644123 3.3238802 ] [ 0.00726782 0.9999642 -0.00433253 -0.07549965] [ 0.00647261 0.00428551 0.99996987 -0.94586692] [ 0. 0. 0. 1. ]] SLAMing on 75.33719347 meters Centerline goodness [0,1] 0.8847846688427925 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.08, Z:-0.95 [[ 0.99995184 -0.00729718 -0.00656194 3.32387528] [ 0.00727084 0.99996545 -0.00402888 -0.0765315 ] [ 0.00659111 0.00398098 0.99997035 -0.94548523] [ 0. 0. 0. 1. ]] SLAMing on 75.36719347 meters Centerline goodness [0,1] 0.8783795165501558 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.08, Z:-0.95 [[ 0.99994782 -0.00767176 -0.00674494 3.32408686] [ 0.00764554 0.99996315 -0.00390525 -0.07758608] [ 0.00677466 0.00385348 0.99996963 -0.94526402] [ 0. 0. 0. 1. ]] SLAMing on 75.39719347 meters Centerline goodness [0,1] 0.8794876648368982 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.08, Z:-0.95 [[ 0.99994624 -0.00771615 -0.00692714 3.3249915 ] [ 0.0076901 0.99996329 -0.00377943 -0.07805433] [ 0.00695605 0.00372595 0.99996886 -0.9459971 ] [ 0. 0. 0. 1. ]] SLAMing on 75.42719347 meters Centerline goodness [0,1] 0.8763880159228996 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.95 [[ 0.99994467 -0.00776528 -0.00709685 3.32588864] [ 0.00773841 0.99996282 -0.00380599 -0.07786788] [ 0.00712614 0.00375086 0.99996757 -0.94671925] [ 0. 0. 0. 1. ]] SLAMing on 75.45719347 meters Centerline goodness [0,1] 0.8752841148244802 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.95 [[ 0.99994441 -0.00776541 -0.00713316 3.32649289] [ 0.00773557 0.99996126 -0.00420073 -0.07613722] [ 0.00716551 0.00414532 0.99996574 -0.94732629] [ 0. 0. 0. 1. ]] SLAMing on 75.48719347000001 meters Centerline goodness [0,1] 0.8839105581708138 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.95 [[ 0.99994744 -0.00692346 -0.00756187 3.32851481] [ 0.00689701 0.99997003 -0.00351751 -0.07591217] [ 0.00758599 0.00346517 0.99996522 -0.94877495] [ 0. 0. 0. 1. ]] SLAMing on 75.51719347 meters Centerline goodness [0,1] 0.8815302431227391 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.95 [[ 9.99962388e-01 -3.99335524e-03 -7.69903433e-03 3.32930003e+00] [ 3.99175436e-03 9.99992008e-01 -2.23287878e-04 -7.67086919e-02] [ 7.69986446e-03 1.92546826e-04 9.99970337e-01 -9.49569857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54719347 meters Centerline goodness [0,1] 0.882614373578229 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.95 [[ 9.99960851e-01 -3.85994470e-03 -7.96225994e-03 3.33042093e+00] [ 3.85894352e-03 9.99992544e-01 -1.41099353e-04 -7.63840351e-02] [ 7.96274521e-03 1.10367918e-04 9.99968291e-01 -9.50385790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57719347 meters Centerline goodness [0,1] 0.8735063090164619 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99956406e-01 -3.10208405e-03 -8.80704021e-03 3.33386045e+00] [ 3.10580567e-03 9.99995093e-01 4.08927546e-04 -7.42342578e-02] [ 8.80572847e-03 -4.36262675e-04 9.99961134e-01 -9.52708305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60719347 meters Centerline goodness [0,1] 0.879216493978689 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99955077e-01 -3.11486013e-03 -8.95213529e-03 3.33414215e+00] [ 3.11602830e-03 9.99995138e-01 1.16545787e-04 -7.26089889e-02] [ 8.95172874e-03 -1.44435659e-04 9.99959922e-01 -9.52556203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63719347 meters Centerline goodness [0,1] 0.877229997911009 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99953181e-01 -3.11224396e-03 -9.16242687e-03 3.33452779e+00] [ 3.11254858e-03 9.99995156e-01 1.89869478e-05 -7.17336526e-02] [ 9.16232340e-03 -4.75045576e-05 9.99958024e-01 -9.52317718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66719347 meters Centerline goodness [0,1] 0.8776219384550974 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99952268e-01 -3.29456837e-03 -9.19823173e-03 3.33417296e+00] [ 3.29429054e-03 9.99994573e-01 -4.53555049e-05 -7.18186969e-02] [ 9.19833124e-03 1.50516922e-05 9.99957694e-01 -9.51619997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69719347 meters Centerline goodness [0,1] 0.8741733013185053 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99951541e-01 -5.00011007e-03 -8.48022495e-03 3.33109961e+00] [ 4.99005939e-03 9.99986822e-01 -1.20593498e-03 -7.32701938e-02] [ 8.48614301e-03 1.16355972e-03 9.99963315e-01 -9.49137743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72719347 meters Centerline goodness [0,1] 0.8728680219019447 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99951095e-01 -4.96106056e-03 -8.55541172e-03 3.33140869e+00] [ 4.95287282e-03 9.99987256e-01 -9.77947254e-04 -7.36400432e-02] [ 8.56015434e-03 9.35525562e-04 9.99962924e-01 -9.49242166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75719347 meters Centerline goodness [0,1] 0.8787847127901874 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99958318e-01 -3.22991952e-03 -8.53991771e-03 3.33278937e+00] [ 3.23225122e-03 9.99994743e-01 2.59247615e-04 -7.20005883e-02] [ 8.53903546e-03 -2.86839968e-04 9.99963501e-01 -9.50440788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78719347 meters Centerline goodness [0,1] 0.8817276444071706 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99962966e-01 4.81250830e-04 -8.59277137e-03 3.33267934e+00] [-4.48198656e-04 9.99992496e-01 3.84802059e-03 -7.12681511e-02] [ 8.59455875e-03 -3.84402682e-03 9.99955678e-01 -9.50164504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81719347 meters Centerline goodness [0,1] 0.888702613214862 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 9.99961127e-01 1.24960448e-03 -8.72830660e-03 3.33305325e+00] [-1.21998073e-03 9.99993481e-01 3.39848581e-03 -6.79973158e-02] [ 8.73249647e-03 -3.38770533e-03 9.99956133e-01 -9.49840519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84719347000001 meters Centerline goodness [0,1] 0.8917034236504936 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 0.9999457 0.00541336 -0.00890426 3.33380123] [-0.00535126 0.99996129 0.0069838 -0.06648298] [ 0.00894172 -0.00693577 0.99993597 -0.95021856] [ 0. 0. 0. 1. ]] SLAMing on 75.87719347 meters Centerline goodness [0,1] 0.8926526315789474 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.95 [[ 0.99991138 0.00975578 -0.00905804 3.33483968] [-0.00965862 0.99989601 0.01070916 -0.06528514] [ 0.00916158 -0.01062072 0.99990163 -0.95102469] [ 0. 0. 0. 1. ]] SLAMing on 75.90719347 meters Centerline goodness [0,1] 0.8904767874305295 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.95 [[ 0.99977021 0.01911046 -0.00971144 3.33938785] [-0.01892787 0.99964861 0.01855796 -0.06246314] [ 0.01006268 -0.01836988 0.99978062 -0.95476084] [ 0. 0. 0. 1. ]] SLAMing on 75.93719347 meters Centerline goodness [0,1] 0.8896407248350267 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.96 [[ 0.99967946 0.02329592 -0.00991338 3.34061764] [-0.02306988 0.99948432 0.02233572 -0.06127771] [ 0.0104286 -0.02209986 0.99970138 -0.95564248] [ 0. 0. 0. 1. ]] SLAMing on 75.96719347 meters Centerline goodness [0,1] 0.8867805981402362 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.96 [[ 0.99966834 0.02370462 -0.01006463 3.34110783] [-0.02347871 0.99948224 0.02200006 -0.05946648] [ 0.01058092 -0.02175646 0.99970731 -0.95565268] [ 0. 0. 0. 1. ]] SLAMing on 75.99719347 meters Centerline goodness [0,1] 0.8854958625614315 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.96 [[ 0.99965103 0.02448878 -0.0099053 3.34059487] [-0.02425902 0.99944826 0.02268668 -0.06148629] [ 0.0104554 -0.02243847 0.99969355 -0.95502184] [ 0. 0. 0. 1. ]] SLAMing on 76.02719347 meters Centerline goodness [0,1] 0.8840120125165383 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.95 [[ 0.99972285 0.02122487 -0.01018513 3.34106262] [-0.02102643 0.99959435 0.01921017 -0.06210856] [ 0.01058873 -0.01899068 0.99976359 -0.95493522] [ 0. 0. 0. 1. ]] SLAMing on 76.05719347 meters Centerline goodness [0,1] 0.883783499737257 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.96 [[ 0.99978506 0.01795003 -0.0103742 3.34164535] [-0.01778412 0.99971589 0.01587033 -0.06299481] [ 0.01065612 -0.01568243 0.99982024 -0.95516064] [ 0. 0. 0. 1. ]] SLAMing on 76.08719347 meters Centerline goodness [0,1] 0.8816535615658663 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.07, Z:-0.96 [[ 0.99981444 0.01602246 -0.01069419 3.34342369] [-0.01586787 0.99977058 0.01438724 -0.06743728] [ 0.01092225 -0.01421487 0.99983931 -0.95652916] [ 0. 0. 0. 1. ]] SLAMing on 76.11719347 meters Centerline goodness [0,1] 0.8811063972781115 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.07, Z:-0.96 [[ 0.99985294 0.01312848 -0.01103326 3.34503238] [-0.01299907 0.99984681 0.01172084 -0.06973507] [ 0.01118545 -0.01157569 0.99987044 -0.95773261] [ 0. 0. 0. 1. ]] SLAMing on 76.14719347 meters Centerline goodness [0,1] 0.8806143085868374 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.07, Z:-0.96 [[ 0.99988531 0.01000031 -0.01137374 3.34614127] [-0.00989698 0.99990957 0.00910496 -0.07326652] [ 0.01146376 -0.00899135 0.99989386 -0.95838618] [ 0. 0. 0. 1. ]] SLAMing on 76.17719347 meters Centerline goodness [0,1] 0.8807538429142977 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.08, Z:-0.96 [[ 0.99991097 0.00671227 -0.01153258 3.34670063] [-0.00663796 0.99995704 0.00646956 -0.07755959] [ 0.01157551 -0.00639243 0.99991257 -0.95868127] [ 0. 0. 0. 1. ]] SLAMing on 76.20719347 meters Centerline goodness [0,1] 0.8830504191061876 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:-0.96 [[ 9.99935666e-01 8.78837755e-04 -1.13088813e-02 3.34605858e+00] [-8.44069496e-04 9.99994904e-01 3.07882643e-03 -8.84879954e-02] [ 1.13115295e-02 -3.06908287e-03 9.99931313e-01 -9.58288244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23719347000001 meters Centerline goodness [0,1] 0.8866454423592494 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.09, Z:-0.96 [[ 0.99997223 -0.00535496 -0.00518355 3.35650378] [ 0.00539171 0.99996026 0.00710025 -0.0946297 ] [ 0.00514532 -0.007128 0.99996136 -0.96126436] [ 0. 0. 0. 1. ]] SLAMing on 76.26719347 meters Centerline goodness [0,1] 0.8872142466214794 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.10, Z:-0.96 [[ 0.9999461 -0.00898783 -0.0051973 3.35651698] [ 0.00901437 0.99994634 0.00510429 -0.1012745 ] [ 0.00515115 -0.00515086 0.99997347 -0.96110835] [ 0. 0. 0. 1. ]] SLAMing on 76.29719347 meters Centerline goodness [0,1] 0.8891626134377698 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.11, Z:-0.96 [[ 0.99990937 -0.01234915 -0.00536189 3.3574731 ] [ 0.01236807 0.99991735 0.00350983 -0.10853456] [ 0.0053181 -0.00357582 0.99997947 -0.9618217 ] [ 0. 0. 0. 1. ]] SLAMing on 76.32719347 meters Centerline goodness [0,1] 0.8888257097127453 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.12, Z:-0.96 [[ 9.99805583e-01 -1.89871428e-02 -5.31834855e-03 3.35727494e+00] [ 1.89873156e-02 9.99819725e-01 -1.80040792e-05 -1.18904570e-01] [ 5.31773163e-03 -8.29805834e-05 9.99985857e-01 -9.61436986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35719347 meters Centerline goodness [0,1] 0.8894302143230528 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.12, Z:-0.96 [[ 9.99732077e-01 -2.24769332e-02 -5.52821880e-03 3.35769773e+00] [ 2.24626923e-02 9.99744236e-01 -2.62476738e-03 -1.22174901e-01] [ 5.58580160e-03 2.49988547e-03 9.99981275e-01 -9.61059036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38719347 meters Centerline goodness [0,1] 0.8875774440827471 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.13, Z:-0.96 [[ 0.99964707 -0.02596503 -0.00561661 3.35798333] [ 0.02593535 0.99964961 -0.00529315 -0.12591427] [ 0.00575208 0.00514561 0.99997022 -0.96089637] [ 0. 0. 0. 1. ]] SLAMing on 76.41719347 meters Centerline goodness [0,1] 0.8869269026622644 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.13, Z:-0.96 [[ 0.99955039 -0.02941752 -0.00579969 3.35888944] [ 0.02937062 0.99953648 -0.00801184 -0.12969081] [ 0.00603269 0.00783789 0.99995109 -0.96131606] [ 0. 0. 0. 1. ]] SLAMing on 76.44719347 meters Centerline goodness [0,1] 0.8832763215882143 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.13, Z:-0.96 [[ 0.99953769 -0.02984891 -0.00578345 3.35874854] [ 0.02980664 0.99952929 -0.00726348 -0.13420474] [ 0.00599753 0.00708774 0.9999569 -0.96110296] [ 0. 0. 0. 1. ]] SLAMing on 76.47719347 meters Centerline goodness [0,1] 0.8811701706498865 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.96 [[ 9.99416090e-01 -3.41528842e-02 1.02949191e-03 3.36712118e+00] [ 3.41539477e-02 9.99416049e-01 -1.03382893e-03 -1.38473567e-01] [-9.93582495e-04 1.06838647e-03 9.99998936e-01 -9.63489345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50719347 meters Centerline goodness [0,1] 0.8726169480137734 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.96 [[ 9.99406313e-01 -3.44402899e-02 9.42300690e-04 3.36697715e+00] [ 3.44412276e-02 9.99406227e-01 -9.97693914e-04 -1.38886460e-01] [-9.07380310e-04 1.02955559e-03 9.99999058e-01 -9.63010989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53719347 meters Centerline goodness [0,1] 0.877431416208041 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.96 [[ 9.99501025e-01 -3.15778624e-02 7.34761647e-04 3.36702795e+00] [ 3.15757089e-02 9.99497502e-01 2.77806839e-03 -1.40519295e-01] [-8.22117893e-04 -2.75348159e-03 9.99995871e-01 -9.62795777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56719347 meters Centerline goodness [0,1] 0.8679265069843534 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.96 [[ 9.99494009e-01 -3.18023228e-02 5.81500759e-04 3.36765207e+00] [ 3.18007003e-02 9.99490812e-01 2.61399119e-03 -1.40079095e-01] [-6.64335657e-04 -2.59417640e-03 9.99996414e-01 -9.63213301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59719347000001 meters Centerline goodness [0,1] 0.8572713204232716 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.97 [[ 9.99474977e-01 -3.23996326e-02 -1.86808027e-04 3.37216475e+00] [ 3.23999492e-02 9.99472859e-01 2.06081203e-03 -1.38818427e-01] [ 1.19940000e-04 -2.06578262e-03 9.99997859e-01 -9.67187193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62719347 meters Centerline goodness [0,1] 0.8622990150686085 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.14, Z:-0.97 [[ 9.99469964e-01 -3.25523991e-02 -3.64116686e-04 3.37319717e+00] [ 3.25530292e-02 9.99468233e-01 1.88447341e-03 -1.38402045e-01] [ 3.02578930e-04 -1.89532768e-03 9.99998158e-01 -9.68146594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65719347 meters Centerline goodness [0,1] 0.8446012436925525 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.14, Z:-0.97 [[ 9.99486962e-01 -3.20182474e-02 -8.02327668e-04 3.37552704e+00] [ 3.20201010e-02 9.99484307e-01 2.41509289e-03 -1.37480921e-01] [ 7.24586872e-04 -2.43954447e-03 9.99996762e-01 -9.70102156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68719347 meters Centerline goodness [0,1] 0.8355541521945058 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.97 [[ 9.99510064e-01 -3.12608735e-02 -1.54574284e-03 3.37861085e+00] [ 3.12657173e-02 9.99505936e-01 3.21555487e-03 -1.33146982e-01] [ 1.44445809e-03 -3.26230821e-03 9.99993635e-01 -9.72685162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71719347 meters Centerline goodness [0,1] 0.8298785748858352 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.97 [[ 9.99500762e-01 -3.15391248e-02 -1.87349714e-03 3.37977787e+00] [ 3.15443710e-02 9.99498318e-01 2.83993741e-03 -1.31917634e-01] [ 1.78298810e-03 -2.89761789e-03 9.99994212e-01 -9.73415644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74719347 meters Centerline goodness [0,1] 0.8088321596244131 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.97 [[ 9.99494649e-01 -3.17156575e-02 -2.13648648e-03 3.38072225e+00] [ 3.17212339e-02 9.99493298e-01 2.62879517e-03 -1.31296618e-01] [ 2.05202995e-03 -2.69523869e-03 9.99994262e-01 -9.73912568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77719347 meters Centerline goodness [0,1] 0.821669149896124 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.97 [[ 9.99488594e-01 -3.18965535e-02 -2.27177062e-03 3.38097147e+00] [ 3.19018004e-02 9.99488334e-01 2.31204859e-03 -1.30257233e-01] [ 2.19686185e-03 -2.38333976e-03 9.99994747e-01 -9.73868811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80719347 meters Centerline goodness [0,1] 0.8151721251438736 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.13, Z:-0.97 [[ 9.99515205e-01 -3.10119517e-02 -2.75945857e-03 3.38236605e+00] [ 3.10208352e-02 9.99513497e-01 3.23693906e-03 -1.25650121e-01] [ 2.65773229e-03 -3.32097051e-03 9.99990954e-01 -9.74607059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83719347 meters Centerline goodness [0,1] 0.788217358616657 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.98 [[ 9.99578351e-01 -2.88654461e-02 -3.14754223e-03 3.38335046e+00] [ 2.88824133e-02 9.99567765e-01 5.48543076e-03 -1.22983735e-01] [ 2.98784234e-03 -5.57402644e-03 9.99980001e-01 -9.75071058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86719347 meters Centerline goodness [0,1] 0.7836163041430276 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.97 [[ 9.99632833e-01 -2.69481227e-02 -2.82815907e-03 3.38176604e+00] [ 2.69682435e-02 9.99609377e-01 7.33533353e-03 -1.19906321e-01] [ 2.62938086e-03 -7.40891072e-03 9.99969097e-01 -9.73912907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89719347 meters Centerline goodness [0,1] 0.8098187753735404 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.97 [[ 9.99622093e-01 -2.73206594e-02 -3.04181870e-03 3.38192721e+00] [ 2.73387903e-02 9.99607688e-01 6.08768809e-03 -1.15687060e-01] [ 2.87430571e-03 -6.16854715e-03 9.99976843e-01 -9.73459305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92719347 meters Centerline goodness [0,1] 0.8041533680497228 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.11, Z:-0.97 [[ 9.99692235e-01 -2.46429218e-02 -2.85689387e-03 3.38090548e+00] [ 2.46610299e-02 9.99674826e-01 6.48661133e-03 -1.07653070e-01] [ 2.69611583e-03 -6.55506892e-03 9.99974881e-01 -9.72283864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95719347 meters Centerline goodness [0,1] 0.8268613506199257 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.97 [[ 9.99753635e-01 -2.19648190e-02 -3.19623849e-03 3.38246762e+00] [ 2.19895751e-02 9.99726764e-01 7.92812982e-03 -1.02043033e-01] [ 3.02122523e-03 -7.99646053e-03 9.99963464e-01 -9.73531864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98719347000001 meters Centerline goodness [0,1] 0.8541557543631755 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.97 [[ 0.99982561 -0.01832214 -0.00361161 3.38389764] [ 0.01835777 0.99978053 0.01009355 -0.09534005] [ 0.00342589 -0.01015809 0.99994254 -0.97448905] [ 0. 0. 0. 1. ]] SLAMing on 77.01719347 meters Centerline goodness [0,1] 0.88671170226157 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.08, Z:-0.98 [[ 0.9999665 -0.00670881 -0.00469036 3.38721275] [ 0.00679445 0.999806 0.01848753 -0.08186784] [ 0.00456542 -0.01851878 0.99981809 -0.97650926] [ 0. 0. 0. 1. ]] SLAMing on 77.04719347 meters Centerline goodness [0,1] 0.8889424083769634 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.08, Z:-0.98 [[ 9.99983823e-01 -2.01797312e-03 -5.31805931e-03 3.38963591e+00] [ 2.13375032e-03 9.99758861e-01 2.18555839e-02 -7.57834744e-02] [ 5.27267294e-03 -2.18665778e-02 9.99746994e-01 -9.78108467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07719347 meters Centerline goodness [0,1] 0.8903721598600496 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:-0.98 [[ 9.99982059e-01 2.06225647e-03 -5.62394727e-03 3.39090920e+00] [-1.92351424e-03 9.99696392e-01 2.45647077e-02 -7.01887359e-02] [ 5.67289852e-03 -2.45534493e-02 9.99682423e-01 -9.78855059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10719347 meters Centerline goodness [0,1] 0.8880689322627309 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:-0.98 [[ 0.99996645 0.00577601 -0.00580778 3.39125373] [-0.00561659 0.99961691 0.02710148 -0.06551744] [ 0.00596209 -0.02706796 0.99961582 -0.97878349] [ 0. 0. 0. 1. ]] SLAMing on 77.13719347 meters Centerline goodness [0,1] 0.8880689322627309 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:-0.98 [[ 0.99996645 0.00577601 -0.00580778 3.39125373] [-0.00561659 0.99961691 0.02710148 -0.06551744] [ 0.00596209 -0.02706796 0.99961582 -0.97878349] [ 0. 0. 0. 1. ]] SLAMing on 77.16719347 meters Centerline goodness [0,1] 0.8887317499272077 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.98 [[ 0.99994079 0.00907457 -0.0060061 3.39205586] [-0.00890044 0.99955671 0.02841065 -0.0576653 ] [ 0.00626125 -0.02835552 0.99957829 -0.97886511] [ 0. 0. 0. 1. ]] SLAMing on 77.19719347 meters Centerline goodness [0,1] 0.8867270677633502 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.05, Z:-0.98 [[ 0.99994465 0.00846354 -0.00625089 3.39256176] [-0.00829005 0.99959352 0.02727747 -0.05449326] [ 0.00647922 -0.02722414 0.99960836 -0.97890112] [ 0. 0. 0. 1. ]] SLAMing on 77.22719347 meters Centerline goodness [0,1] 0.8849936049315413 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.05, Z:-0.98 [[ 0.99996863 0.00442884 -0.0065671 3.39322694] [-0.0042808 0.99974018 0.02238862 -0.05051408] [ 0.00666454 -0.0223598 0.99972777 -0.97888926] [ 0. 0. 0. 1. ]] SLAMing on 77.25719347 meters Centerline goodness [0,1] 0.8861205512582616 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.98 [[ 9.99973061e-01 1.37473337e-03 -7.21024200e-03 3.39568372e+00] [-1.23877632e-03 9.99821993e-01 1.88267903e-02 -4.79609350e-02] [ 7.23484034e-03 -1.88173512e-02 9.99796762e-01 -9.80322132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28719347 meters Centerline goodness [0,1] 0.8835546475995915 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.98 [[ 9.99968830e-01 -2.71936622e-03 -7.41242159e-03 3.39639180e+00] [ 2.82425944e-03 9.99895506e-01 1.41774650e-02 -4.56864773e-02] [ 7.37309332e-03 -1.41979577e-02 9.99872020e-01 -9.80573356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31719347 meters Centerline goodness [0,1] 0.884404282404992 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 0.99994934 -0.00667602 -0.00753292 3.39667279] [ 0.0067497 0.99992921 0.00979835 -0.04391888] [ 0.00746698 -0.0098487 0.99992362 -0.98037658] [ 0. 0. 0. 1. ]] SLAMing on 77.34719347000001 meters Centerline goodness [0,1] 0.883138913903956 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.04, Z:-0.98 [[ 0.99993569 -0.00865993 -0.00732321 3.39484592] [ 0.00871942 0.99992893 0.0081308 -0.04341181] [ 0.00725228 -0.00819413 0.99994013 -0.97847088] [ 0. 0. 0. 1. ]] SLAMing on 77.37719347 meters Centerline goodness [0,1] 0.8815249266862171 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 0.99993201 -0.00895568 -0.00746758 3.39504977] [ 0.00901463 0.99992817 0.00789857 -0.04284081] [ 0.00739631 -0.00796535 0.99994092 -0.97827288] [ 0. 0. 0. 1. ]] SLAMing on 77.40719347 meters Centerline goodness [0,1] 0.8823578682860433 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 0.9999276 -0.00924151 -0.00770663 3.39571745] [ 0.00930043 0.99992753 0.00764471 -0.04260823] [ 0.00763542 -0.00771583 0.99994108 -0.97844371] [ 0. 0. 0. 1. ]] SLAMing on 77.43719347 meters Centerline goodness [0,1] 0.8806086370906642 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 0.99987844 -0.01333966 -0.00807228 3.39656326] [ 0.0133692 0.99990409 0.00361667 -0.04260452] [ 0.00802326 -0.00372415 0.99996088 -0.97841732] [ 0. 0. 0. 1. ]] SLAMing on 77.46719347 meters Centerline goodness [0,1] 0.8794944113652983 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 9.99827719e-01 -1.64570279e-02 -8.58474397e-03 3.39889171e+00] [ 1.64632553e-02 9.99864257e-01 6.55234342e-04 -4.34332098e-02] [ 8.57279544e-03 -7.96454289e-04 9.99962936e-01 -9.79934452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49719347 meters Centerline goodness [0,1] 0.8790976751965212 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.98 [[ 9.99816142e-01 -1.71179671e-02 -8.64042802e-03 3.39930595e+00] [ 1.71251343e-02 9.99853068e-01 7.56182480e-04 -4.52859742e-02] [ 8.62621416e-03 -9.04011940e-04 9.99962385e-01 -9.80344768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52719347 meters Centerline goodness [0,1] 0.8674019248107689 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.98 [[ 0.99971946 -0.0221169 -0.00847643 3.39894607] [ 0.02208664 0.99974941 -0.00364669 -0.04501197] [ 0.00855496 0.00345845 0.99995742 -0.97992432] [ 0. 0. 0. 1. ]] SLAMing on 77.55719347 meters Centerline goodness [0,1] 0.8479486640016831 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.98 [[ 0.99970809 -0.02265497 -0.00839519 3.39850931] [ 0.0226234 0.9997367 -0.00383661 -0.04507185] [ 0.0084799 0.00364556 0.9999574 -0.97942442] [ 0. 0. 0. 1. ]] SLAMing on 77.58719347 meters Centerline goodness [0,1] 0.8418118320289489 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.98 [[ 9.99769991e-01 -1.97439360e-02 -8.37506850e-03 3.39809558e+00] [ 1.97425260e-02 9.99805066e-01 -2.51001849e-04 -4.59126362e-02] [ 8.37839168e-03 8.55991088e-05 9.99964897e-01 -9.79128158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61719347 meters Centerline goodness [0,1] 0.8409546898511955 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 9.99780725e-01 -1.89683512e-02 -8.87147259e-03 3.39996015e+00] [ 1.89719656e-02 9.99819964e-01 3.23434483e-04 -4.47076326e-02] [ 8.86374038e-03 -4.91672835e-04 9.99960595e-01 -9.80112164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64719347 meters Centerline goodness [0,1] 0.818342997788995 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 9.99821770e-01 -1.62328103e-02 -9.63976138e-03 3.40293102e+00] [ 1.62538366e-02 9.99865678e-01 2.10688456e-03 -4.10788821e-02] [ 9.60426589e-03 -2.26319216e-03 9.99951317e-01 -9.81847100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67719347 meters Centerline goodness [0,1] 0.8705660377358491 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 0.99987585 -0.01243031 -0.00968401 3.40311734] [ 0.01248421 0.9999068 0.00552636 -0.04003347] [ 0.00961441 -0.00564657 0.99993784 -0.98201495] [ 0. 0. 0. 1. ]] SLAMing on 77.70719347 meters Centerline goodness [0,1] 0.8836433099626348 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.04, Z:-0.98 [[ 0.99991557 -0.00850407 -0.00982551 3.40326249] [ 0.00859049 0.99992449 0.00878742 -0.03797153] [ 0.00975003 -0.00887109 0.99991312 -0.98182724] [ 0. 0. 0. 1. ]] SLAMing on 77.73719347000001 meters Centerline goodness [0,1] 0.8926421892246497 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.03, Z:-0.98 [[ 0.99997513 -0.00347042 -0.00613891 3.41210144] [ 0.00349489 0.99998597 0.00397987 -0.03433638] [ 0.00612501 -0.00400123 0.99997324 -0.98255765] [ 0. 0. 0. 1. ]] SLAMing on 77.76719347 meters Centerline goodness [0,1] 0.892421511506057 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.03, Z:-0.98 [[ 0.99997051 0.00469636 -0.00607572 3.41249664] [-0.0046296 0.99992927 0.01095567 -0.03041691] [ 0.00612674 -0.01092722 0.99992153 -0.98284443] [ 0. 0. 0. 1. ]] SLAMing on 77.79719347 meters Centerline goodness [0,1] 0.89511554183699 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.03, Z:-0.98 [[ 0.99996749 0.00502268 -0.00630883 3.4132656 ] [-0.00495597 0.99993212 0.01054484 -0.02835958] [ 0.00636137 -0.01051324 0.9999245 -0.98298901] [ 0. 0. 0. 1. ]] SLAMing on 77.82719347 meters Centerline goodness [0,1] 0.8947522048245522 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.03, Z:-0.98 [[ 0.99996711 0.00507779 -0.00632437 3.41345954] [-0.0050137 0.99993634 0.0101085 -0.02681375] [ 0.0063753 -0.01007645 0.99992891 -0.98296972] [ 0. 0. 0. 1. ]] SLAMing on 77.85719347 meters Centerline goodness [0,1] 0.8937255639883752 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.03, Z:-0.98 [[ 0.9999683 0.00500596 -0.00619266 3.41339017] [-0.0049462 0.99994141 0.00962827 -0.02530114] [ 0.0062405 -0.00959734 0.99993447 -0.98290073] [ 0. 0. 0. 1. ]] SLAMing on 77.88719347 meters Centerline goodness [0,1] 0.8920490061257658 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.02, Z:-0.98 [[ 9.99976811e-01 2.15595914e-03 -6.45986333e-03 3.41509590e+00] [-2.11473682e-03 9.99977403e-01 6.38134778e-03 -2.43574536e-02] [ 6.47347528e-03 -6.36753889e-03 9.99958773e-01 -9.84057476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91719347 meters Centerline goodness [0,1] 0.8913088874039425 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.02, Z:-0.98 [[ 9.99978009e-01 -1.17240690e-03 -6.52747116e-03 3.41546333e+00] [ 1.19079992e-03 9.99995330e-01 2.81461373e-03 -2.41652182e-02] [ 6.52414080e-03 -2.82232475e-03 9.99974735e-01 -9.84126767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94719347 meters Centerline goodness [0,1] 0.8922169466000125 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.98 [[ 9.99978622e-01 -1.66922937e-03 -6.32204759e-03 3.41517113e+00] [ 1.68774388e-03 9.99994300e-01 2.92436022e-03 -2.64771200e-02] [ 6.31713013e-03 -2.93496770e-03 9.99975740e-01 -9.84261263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97719347 meters Centerline goodness [0,1] 0.8920046107094205 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.98 [[ 9.99967017e-01 -5.26426501e-03 -6.18493140e-03 3.41526108e+00] [ 5.26492266e-03 9.99986136e-01 9.00536167e-05 -3.01506438e-02] [ 6.18437159e-03 -1.22613832e-04 9.99980869e-01 -9.84475222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00719347 meters Centerline goodness [0,1] 0.8953832588020407 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.98 [[ 9.99967038e-01 -5.32274319e-03 -6.13120813e-03 3.41523117e+00] [ 5.32627244e-03 9.99985659e-01 5.59435817e-04 -3.19536328e-02] [ 6.12814247e-03 -5.92073862e-04 9.99981047e-01 -9.84520544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03719347 meters Centerline goodness [0,1] 0.8953767731422483 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.98 [[ 9.99965696e-01 -5.40595519e-03 -6.27554917e-03 3.41558882e+00] [ 5.41171027e-03 9.99984951e-01 9.00446589e-04 -3.30743947e-02] [ 6.27058695e-03 -9.34377154e-04 9.99979903e-01 -9.84574645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06719347 meters Centerline goodness [0,1] 0.8973439073514602 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.98 [[ 9.99965278e-01 -5.53035855e-03 -6.23368842e-03 3.41542562e+00] [ 5.53686172e-03 9.99984145e-01 1.02645501e-03 -3.39607679e-02] [ 6.22791292e-03 -1.06093444e-03 9.99980044e-01 -9.84430496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09719347000001 meters Centerline goodness [0,1] 0.8964224372669767 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.98 [[ 9.99959302e-01 -6.52184013e-03 -6.23375506e-03 3.41570568e+00] [ 6.52813556e-03 9.99978201e-01 9.90080696e-04 -3.66273863e-02] [ 6.22716202e-03 -1.03073520e-03 9.99980080e-01 -9.84933238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12719347 meters Centerline goodness [0,1] 0.8906246732333689 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99955615e-01 -6.99460253e-03 -6.31213542e-03 3.41646541e+00] [ 7.00260836e-03 9.99974704e-01 1.24711407e-03 -3.85724617e-02] [ 6.30325268e-03 -1.29126012e-03 9.99979301e-01 -9.85815154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15719347 meters Centerline goodness [0,1] 0.8892084531699387 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99947417e-01 -7.90675468e-03 -6.53044994e-03 3.41744820e+00] [ 7.91450970e-03 9.99968004e-01 1.16252715e-03 -4.00274559e-02] [ 6.52104917e-03 -1.21415133e-03 9.99978001e-01 -9.86767088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18719347 meters Centerline goodness [0,1] 0.8762584507189652 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99939761e-01 -8.83958861e-03 -6.50668659e-03 3.41766172e+00] [ 8.84546878e-03 9.99960495e-01 8.75488911e-04 -4.05326538e-02] [ 6.49869059e-03 -9.32990866e-04 9.99978448e-01 -9.87206912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21719347 meters Centerline goodness [0,1] 0.8287556872730308 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99885665e-01 -1.34567647e-02 -6.89731380e-03 3.41971705e+00] [ 1.34340757e-02 9.99904229e-01 -3.32538408e-03 -3.72825585e-02] [ 6.94140215e-03 3.23234484e-03 9.99970684e-01 -9.88752904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24719347 meters Centerline goodness [0,1] 0.8036734096186432 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 0.99987564 -0.01404527 -0.00717219 3.42091604] [ 0.01401943 0.99989509 -0.00364137 -0.0370011 ] [ 0.00722259 0.00354037 0.99996765 -0.98970033] [ 0. 0. 0. 1. ]] SLAMing on 78.27719347 meters Centerline goodness [0,1] 0.7926755130704568 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99871542e-01 -1.42521044e-02 -7.33326066e-03 3.42211382e+00] [ 1.42267600e-02 9.99892680e-01 -3.49672077e-03 -3.80424886e-02] [ 7.38230928e-03 3.39194305e-03 9.99966998e-01 -9.90930724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30719347 meters Centerline goodness [0,1] 0.7416548443628473 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99869043e-01 -1.43493259e-02 -7.48283311e-03 3.42321039e+00] [ 1.43245968e-02 9.99891793e-01 -3.34797679e-03 -3.88915148e-02] [ 7.53006462e-03 3.24034978e-03 9.99966399e-01 -9.92001541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33719347 meters Centerline goodness [0,1] 0.7725187001068577 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99909255e-01 -1.11897599e-02 -7.50136346e-03 3.42339135e+00] [ 1.11878974e-02 9.99937371e-01 -2.90199649e-04 -3.68384041e-02] [ 7.50414093e-03 2.06248830e-04 9.99971822e-01 -9.92235445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36719347 meters Centerline goodness [0,1] 0.8106569772326304 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.99 [[ 9.99942442e-01 -7.65071095e-03 -7.52197698e-03 3.42361477e+00] [ 7.67411471e-03 9.99965787e-01 3.08746016e-03 -3.51278776e-02] [ 7.49809837e-03 -3.14500696e-03 9.99966943e-01 -9.92494706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39719347 meters Centerline goodness [0,1] 0.8178076438471231 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.99 [[ 0.99996299 -0.00403974 -0.00759578 3.42400432] [ 0.00408845 0.99997111 0.00640863 -0.03310946] [ 0.00756967 -0.00643945 0.99995062 -0.99278933] [ 0. 0. 0. 1. ]] SLAMing on 78.42719347 meters Centerline goodness [0,1] 0.8298073290517567 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.99 [[ 0.99996306 -0.00367855 -0.00776796 3.42468397] [ 0.00372356 0.99997631 0.0057885 -0.03000044] [ 0.00774648 -0.00581721 0.99995307 -0.99289865] [ 0. 0. 0. 1. ]] SLAMing on 78.45719347 meters Centerline goodness [0,1] 0.8518154232499738 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.99 [[ 9.99970263e-01 6.15573837e-04 -7.68723934e-03 3.42530482e+00] [-5.44414616e-04 9.99957019e-01 9.25546201e-03 -2.78366262e-02] [ 7.69260636e-03 -9.25100174e-03 9.99927619e-01 -9.93617421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48719347000001 meters Centerline goodness [0,1] 0.8653217697335345 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.99 [[ 9.99970803e-01 7.53333986e-04 -7.60430470e-03 3.42525077e+00] [-6.88331031e-04 9.99963235e-01 8.54717944e-03 -2.52868794e-02] [ 7.61046401e-03 -8.54169561e-03 9.99934558e-01 -9.93325415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51719347 meters Centerline goodness [0,1] 0.8733923081749169 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:-0.99 [[ 9.99971804e-01 9.05894898e-04 -7.45455406e-03 3.42518661e+00] [-8.47163832e-04 9.99968610e-01 7.87793816e-03 -2.25528556e-02] [ 7.46145664e-03 -7.87140081e-03 9.99941182e-01 -9.93136576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54719347 meters Centerline goodness [0,1] 0.8734068959763042 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.02, Z:-0.99 [[ 9.99972673e-01 6.95951258e-04 -7.36000709e-03 3.42469639e+00] [-6.45382819e-04 9.99976187e-01 6.87084989e-03 -1.90686210e-02] [ 7.36461360e-03 -6.86591210e-03 9.99949310e-01 -9.92146898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57719347 meters Centerline goodness [0,1] 0.8823860791186781 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:-0.99 [[ 0.99996894 0.00361643 -0.00700335 3.42299172] [-0.00355578 0.99995624 0.00865336 -0.01356792] [ 0.00703433 -0.00862819 0.99993803 -0.99010391] [ 0. 0. 0. 1. ]] SLAMing on 78.60719347 meters Centerline goodness [0,1] 0.8906178106830636 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:-0.99 [[ 0.99996839 0.00348927 -0.00714475 3.42350431] [-0.00343401 0.99996421 0.00773174 -0.01043437] [ 0.00717147 -0.00770696 0.99994458 -0.99017688] [ 0. 0. 0. 1. ]] SLAMing on 78.63719347 meters Centerline goodness [0,1] 0.8962510170446247 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:-0.99 [[ 9.99967429e-01 3.38124312e-03 -7.32851982e-03 3.42450120e+00] [-3.33037071e-03 9.99970352e-01 6.94282667e-03 -7.85140296e-03] [ 7.35177793e-03 -6.91819385e-03 9.99949044e-01 -9.90860885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66719347 meters Centerline goodness [0,1] 0.8986900663363843 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.01, Z:-0.99 [[ 9.99967913e-01 3.11550089e-03 -7.38014943e-03 3.42481377e+00] [-3.07142348e-03 9.99977425e-01 5.97625218e-03 -5.23853071e-03] [ 7.39860185e-03 -5.95339285e-03 9.99954908e-01 -9.91032431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69719347 meters Centerline goodness [0,1] 0.899218962665159 Centerline is valid? [False, False] Translation: X:3.43, Y:0.00, Z:-0.99 [[ 9.99967860e-01 2.80911372e-03 -7.50914349e-03 3.42590581e+00] [-2.77751717e-03 9.99987260e-01 4.21486526e-03 1.60813049e-03] [ 7.52088786e-03 -4.19387302e-03 9.99962923e-01 -9.91710277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72719347 meters Centerline goodness [0,1] 0.8986105895606459 Centerline is valid? [False, False] Translation: X:3.43, Y:0.01, Z:-0.99 [[ 9.99966252e-01 2.37679421e-03 -7.86418325e-03 3.42688345e+00] [-2.35326614e-03 9.99992732e-01 2.99970285e-03 5.84119543e-03] [ 7.87125576e-03 -2.98109510e-03 9.99964578e-01 -9.91955904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75719347 meters Centerline goodness [0,1] 0.8997348255486188 Centerline is valid? [False, False] Translation: X:3.43, Y:0.01, Z:-0.99 [[ 9.99966048e-01 1.81029901e-03 -8.03896907e-03 3.42718433e+00] [-1.79758704e-03 9.99997123e-01 1.58823748e-03 1.00763696e-02] [ 8.04182112e-03 -1.57373281e-03 9.99966426e-01 -9.91738560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78719347 meters Centerline goodness [0,1] 0.8972196710361526 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.99 [[ 9.99968292e-01 7.44789629e-04 -7.92849359e-03 3.42719167e+00] [-7.49647936e-04 9.99999533e-01 -6.09811226e-04 1.65943390e-02] [ 7.92803571e-03 6.15735469e-04 9.99968383e-01 -9.91665324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81719347 meters Centerline goodness [0,1] 0.8951712064689578 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.99 [[ 9.99967306e-01 4.89703197e-04 -8.07143766e-03 3.42807914e+00] [-4.99035767e-04 9.99999209e-01 -1.15427284e-03 1.82950517e-02] [ 8.07086603e-03 1.15826304e-03 9.99966759e-01 -9.92373797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84719347000001 meters Centerline goodness [0,1] 0.8975884813050082 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.99 [[ 9.99966416e-01 4.01699973e-04 -8.18572328e-03 3.42917280e+00] [-4.14596413e-04 9.99998676e-01 -1.57384356e-03 1.99916636e-02] [ 8.18508022e-03 1.57718447e-03 9.99965258e-01 -9.93394677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87719347 meters Centerline goodness [0,1] 0.8968857410686387 Centerline is valid? [False, False] Translation: X:3.43, Y:0.02, Z:-0.99 [[ 9.99964920e-01 3.58709726e-04 -8.36835386e-03 3.42992371e+00] [-3.76809340e-04 9.99997593e-01 -2.16138788e-03 2.24951402e-02] [ 8.36755840e-03 2.16446533e-03 9.99962649e-01 -9.93777543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90719347 meters Centerline goodness [0,1] 0.8971703038529811 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-0.99 [[ 9.99963333e-01 6.19125781e-04 -8.54104915e-03 3.43070482e+00] [-6.41880416e-04 9.99996252e-01 -2.66166600e-03 2.54574681e-02] [ 8.53936923e-03 2.66705073e-03 9.99959982e-01 -9.94112122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93719347 meters Centerline goodness [0,1] 0.8972584062257463 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-1.00 [[ 9.99939582e-01 6.19323341e-03 -9.08163589e-03 3.43358881e+00] [-6.17689910e-03 9.99979256e-01 1.82555610e-03 2.81884914e-02] [ 9.09275360e-03 -1.76934946e-03 9.99957095e-01 -9.96180832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96719347 meters Centerline goodness [0,1] 0.8951722409074767 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:-1.00 [[ 0.99989985 0.01064565 -0.00932512 3.43467799] [-0.01059136 0.99992679 0.00585157 0.02898194] [ 0.00938673 -0.00575221 0.9999394 -0.99678681] [ 0. 0. 0. 1. ]] SLAMing on 78.99719347 meters Centerline goodness [0,1] 0.8935236695706938 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-1.00 [[ 0.99983916 0.015269 -0.00940798 3.4350133 ] [-0.01517651 0.99983656 0.00982506 0.02992326] [ 0.00955647 -0.0096807 0.99990747 -0.99656313] [ 0. 0. 0. 1. ]] SLAMing on 79.02719347 meters Centerline goodness [0,1] 0.8935236695706938 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-1.00 [[ 0.99983916 0.015269 -0.00940798 3.4350133 ] [-0.01517651 0.99983656 0.00982506 0.02992326] [ 0.00955647 -0.0096807 0.99990747 -0.99656313] [ 0. 0. 0. 1. ]] SLAMing on 79.05719347 meters Centerline goodness [0,1] 0.8922176882078614 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-1.00 [[ 0.99975499 0.01996217 -0.00956443 3.43577283] [-0.01982785 0.99970623 0.01393932 0.03069204] [ 0.00983988 -0.01374626 0.9998571 -0.99670177] [ 0. 0. 0. 1. ]] SLAMing on 79.08719347 meters Centerline goodness [0,1] 0.8939508032128514 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-1.00 [[ 0.99958818 0.02704567 -0.00959214 3.43769178] [-0.02684997 0.99943987 0.01997564 0.02920128] [ 0.01012702 -0.01970987 0.99975445 -0.99804494] [ 0. 0. 0. 1. ]] SLAMing on 79.11719347 meters Centerline goodness [0,1] 0.890943783942463 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-1.00 [[ 0.99955805 0.02802034 -0.00992783 3.43886856] [-0.0278095 0.99939734 0.02077485 0.02762544] [ 0.01050397 -0.02048958 0.99973489 -0.99855731] [ 0. 0. 0. 1. ]] SLAMing on 79.14719347 meters Centerline goodness [0,1] 0.8909832961669542 Centerline is valid? [False, False] Translation: X:3.44, Y:0.03, Z:-1.00 [[ 0.99962585 0.02539065 -0.01017256 3.43963237] [-0.02520631 0.99952277 0.01785685 0.02592486] [ 0.0106211 -0.01759376 0.9997888 -0.99875181] [ 0. 0. 0. 1. ]] SLAMing on 79.17719347 meters Centerline goodness [0,1] 0.890006523431746 Centerline is valid? [False, False] Translation: X:3.44, Y:0.02, Z:-1.00 [[ 0.99969635 0.02231371 -0.01045519 3.44010924] [-0.02215469 0.99964073 0.01508607 0.02258994] [ 0.01078806 -0.01484985 0.99983154 -0.99871569] [ 0. 0. 0. 1. ]] SLAMing on 79.20719347 meters Centerline goodness [0,1] 0.8893340325117987 Centerline is valid? [False, False] Translation: X:3.45, Y:0.02, Z:-1.00 [[ 0.99984306 0.01706013 -0.0047759 3.4522129 ] [-0.01696599 0.99967357 0.01910281 0.0171845 ] [ 0.00510024 -0.01901878 0.99980612 -1.00193954] [ 0. 0. 0. 1. ]] SLAMing on 79.23719347000001 meters Centerline goodness [0,1] 0.8870697245398516 Centerline is valid? [False, False] Translation: X:3.45, Y:0.01, Z:-1.00 [[ 0.99995635 0.00770205 -0.00529005 3.45242554] [-0.00764189 0.99990695 0.01130039 0.00706611] [ 0.0053766 -0.01125947 0.99992216 -1.00092515] [ 0. 0. 0. 1. ]] SLAMing on 79.26719347 meters Centerline goodness [0,1] 0.8872339092105538 Centerline is valid? [False, False] Translation: X:3.45, Y:0.00, Z:-1.00 [[ 9.99981373e-01 1.41670609e-03 -5.93693034e-03 3.45458590e+00] [-1.38195489e-03 9.99981914e-01 5.85341527e-03 2.09465954e-03] [ 5.94511553e-03 -5.84510167e-03 9.99965245e-01 -1.00201630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29719347 meters Centerline goodness [0,1] 0.8832896255113816 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.00, Z:-1.00 [[ 9.99979089e-01 -2.31228123e-03 -6.03948808e-03 3.45470208e+00] [ 2.33270240e-03 9.99991579e-01 3.37642261e-03 -3.90620132e-03] [ 6.03162999e-03 -3.39044034e-03 9.99976062e-01 -1.00191394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32719347 meters Centerline goodness [0,1] 0.8840313699315868 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:-1.00 [[ 9.99964240e-01 -5.45017515e-03 -6.46646988e-03 3.45598636e+00] [ 5.46023142e-03 9.99983909e-01 1.53850680e-03 -1.00117296e-02] [ 6.45798070e-03 -1.57376021e-03 9.99977909e-01 -1.00244052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35719347 meters Centerline goodness [0,1] 0.8835982172889337 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:-1.00 [[ 9.99939174e-01 -8.78081042e-03 -6.67430832e-03 3.45618447e+00] [ 8.77605879e-03 9.99961215e-01 -7.40883426e-04 -1.54180831e-02] [ 6.68055502e-03 6.82264239e-04 9.99977452e-01 -1.00209878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38719347 meters Centerline goodness [0,1] 0.8861752887995982 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:-1.00 [[ 0.9998704 -0.01442361 -0.00715152 3.4564321 ] [ 0.01439136 0.99988613 -0.00453976 -0.02709989] [ 0.00721618 0.00443626 0.99996412 -1.00084645] [ 0. 0. 0. 1. ]] SLAMing on 79.41719347 meters Centerline goodness [0,1] 0.8909701508103711 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:-1.00 [[ 0.99981746 -0.01761818 -0.00739206 3.45721745] [ 0.01756854 0.99982302 -0.0067282 -0.03215944] [ 0.00750929 0.0065971 0.99995004 -1.00107619] [ 0. 0. 0. 1. ]] SLAMing on 79.44719347 meters Centerline goodness [0,1] 0.890375782881002 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.04, Z:-1.00 [[ 0.99975348 -0.02083119 -0.00768318 3.45821058] [ 0.0207617 0.99974381 -0.00901493 -0.03651008] [ 0.007869 0.00885319 0.99992985 -1.00145551] [ 0. 0. 0. 1. ]] SLAMing on 79.47719347 meters Centerline goodness [0,1] 0.89297819810018 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.05, Z:-1.00 [[ 0.99965782 -0.02472195 -0.00854818 3.46029167] [ 0.02463721 0.99964763 -0.00988074 -0.04517123] [ 0.00878944 0.00966676 0.99991465 -1.0028439 ] [ 0. 0. 0. 1. ]] SLAMing on 79.50719347 meters Centerline goodness [0,1] 0.891650452938346 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.05, Z:-1.00 [[ 0.99957446 -0.02777505 -0.00891294 3.46240662] [ 0.02766706 0.99954494 -0.01201846 -0.04930228] [ 0.00924269 0.01176675 0.99988805 -1.00442541] [ 0. 0. 0. 1. ]] SLAMing on 79.53719347 meters Centerline goodness [0,1] 0.8924400994338952 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.06, Z:-1.01 [[ 0.99939095 -0.03343283 -0.00999896 3.4675645 ] [ 0.03327239 0.99932137 -0.01580357 -0.05788718] [ 0.01052053 0.01546125 0.99982512 -1.00836195] [ 0. 0. 0. 1. ]] SLAMing on 79.56719347 meters Centerline goodness [0,1] 0.8925308072763853 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.06, Z:-1.01 [[ 0.99938499 -0.03347408 -0.0104469 3.46881026] [ 0.03332078 0.99933926 -0.01451787 -0.06252539] [ 0.01092597 0.01416085 0.99984003 -1.0090572 ] [ 0. 0. 0. 1. ]] SLAMing on 79.59719347000001 meters Centerline goodness [0,1] 0.8872710584504986 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.07, Z:-1.01 [[ 0.99936805 -0.03383706 -0.01088827 3.46979103] [ 0.03368879 0.99934086 -0.01352409 -0.06654478] [ 0.01133871 0.01314874 0.99984926 -1.00933935] [ 0. 0. 0. 1. ]] SLAMing on 79.62719347 meters Centerline goodness [0,1] 0.8879936212178439 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.07, Z:-1.01 [[ 0.99935149 -0.03425557 -0.01109793 3.46992306] [ 0.03411447 0.99933771 -0.01266277 -0.07042401] [ 0.01152435 0.01227596 0.99985824 -1.00896719] [ 0. 0. 0. 1. ]] SLAMing on 79.65719347 meters Centerline goodness [0,1] 0.8683178491286203 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99918136 -0.03879307 -0.01147663 3.47060672] [ 0.03861484 0.99913605 -0.01536398 -0.07604647] [ 0.01206273 0.01490823 0.9998161 -1.00861584] [ 0. 0. 0. 1. ]] SLAMing on 79.68719347 meters Centerline goodness [0,1] 0.8386253346720214 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99916098 -0.0392118 -0.0118227 3.47164654] [ 0.03903755 0.9991307 -0.01462559 -0.07981259] [ 0.01238592 0.01415178 0.99982314 -1.00923857] [ 0. 0. 0. 1. ]] SLAMing on 79.71719347 meters Centerline goodness [0,1] 0.8238144758735441 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99914046 -0.0396598 -0.01206015 3.47250318] [ 0.03948989 0.99912168 -0.014015 -0.08313271] [ 0.01260539 0.0135267 0.99982905 -1.00983224] [ 0. 0. 0. 1. ]] SLAMing on 79.74719347 meters Centerline goodness [0,1] 0.7843349651078013 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99895722 -0.04409408 -0.01184012 3.4720258 ] [ 0.04387972 0.99887837 -0.01779229 -0.08442465] [ 0.01261138 0.0172542 0.9997716 -1.00907211] [ 0. 0. 0. 1. ]] SLAMing on 79.77719347 meters Centerline goodness [0,1] 0.8032817725752508 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99893731 -0.0445472 -0.01182338 3.4715951 ] [ 0.04432963 0.99885358 -0.01806662 -0.08395861] [ 0.01261465 0.0175233 0.99976688 -1.00843202] [ 0. 0. 0. 1. ]] SLAMing on 79.80719347 meters Centerline goodness [0,1] 0.8044446302761692 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99906774 -0.04150117 -0.01188678 3.47112744] [ 0.0413282 0.99904121 -0.01444463 -0.0843099 ] [ 0.01247486 0.01393991 0.99982501 -1.00802813] [ 0. 0. 0. 1. ]] SLAMing on 79.83719347 meters Centerline goodness [0,1] 0.7911527365472258 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99919719 -0.03821914 -0.01201158 3.4708788 ] [ 0.03808846 0.99921463 -0.01092625 -0.08382668] [ 0.01241974 0.01045997 0.99986816 -1.0076875 ] [ 0. 0. 0. 1. ]] SLAMing on 79.86719347 meters Centerline goodness [0,1] 0.7759340429972865 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.99932252 -0.03472062 -0.01220589 3.47075984] [ 0.03463 0.99937162 -0.00755851 -0.08265581] [ 0.01246066 0.0071307 0.99989694 -1.00729745] [ 0. 0. 0. 1. ]] SLAMing on 79.89719347 meters Centerline goodness [0,1] 0.8097510157308053 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.08, Z:-1.01 [[ 0.9994524 -0.03056678 -0.01267159 3.47133582] [ 0.03050469 0.99952179 -0.00506538 -0.07576725] [ 0.01282037 0.00467607 0.99990688 -1.00677208] [ 0. 0. 0. 1. ]] SLAMing on 79.92719347 meters Centerline goodness [0,1] 0.8230012736725618 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.07, Z:-1.01 [[ 9.99552698e-01 -2.70234749e-02 -1.28115666e-02 3.47133198e+00] [ 2.69970971e-02 9.99633030e-01 -2.22742637e-03 -7.23185227e-02] [ 1.28670579e-02 1.88055493e-03 9.99915448e-01 -1.00658712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95719347 meters Centerline goodness [0,1] 0.8542214001975661 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.07, Z:-1.01 [[ 9.99643476e-01 -2.34128452e-02 -1.28358961e-02 3.47117373e+00] [ 2.34225979e-02 9.99725467e-01 6.09980651e-04 -6.86264878e-02] [ 1.28180909e-02 -9.10413212e-04 9.99917430e-01 -1.00642913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98719347000001 meters Centerline goodness [0,1] 0.8678074464084242 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.06, Z:-1.01 [[ 9.99714940e-01 -1.99341900e-02 -1.31403061e-02 3.47186898e+00] [ 1.99774305e-02 9.99795413e-01 3.16765639e-03 -6.44614223e-02] [ 1.30744731e-02 -3.42926296e-03 9.99908645e-01 -1.00660127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01719347 meters Centerline goodness [0,1] 0.897885335397101 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.06, Z:-1.01 [[ 0.99982262 -0.01325144 -0.01338388 3.47287049] [ 0.01335502 0.99988133 0.00767974 -0.05619699] [ 0.01328052 -0.00785712 0.99988094 -1.00704323] [ 0. 0. 0. 1. ]] SLAMing on 80.04719347 meters Centerline goodness [0,1] 0.9065739622798618 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.05, Z:-1.01 [[ 0.99986366 -0.00946906 -0.01352769 3.47354373] [ 0.00961093 0.99989909 0.01046152 -0.05205361] [ 0.01342727 -0.01059011 0.99985377 -1.00746585] [ 0. 0. 0. 1. ]] SLAMing on 80.07719347 meters Centerline goodness [0,1] 0.913236650180233 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.05, Z:-1.01 [[ 0.99989069 -0.00574023 -0.01362546 3.47358013] [ 0.00591847 0.99989697 0.01307761 -0.04727606] [ 0.01354899 -0.01315682 0.99982165 -1.00724287] [ 0. 0. 0. 1. ]] SLAMing on 80.10719347 meters Centerline goodness [0,1] 0.913519740286941 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:-1.01 [[ 9.99896460e-01 2.21674702e-03 -1.42181126e-02 3.47686801e+00] [-1.94341459e-03 9.99813595e-01 1.92093314e-02 -3.96094828e-02] [ 1.42580446e-02 -1.91797108e-02 9.99714383e-01 -1.00977781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13719347 meters Centerline goodness [0,1] 0.9117733043768794 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:-1.01 [[ 9.99882366e-01 3.74887364e-03 -1.48727673e-02 3.48039889e+00] [-3.45314525e-03 9.99796808e-01 1.98599797e-02 -3.72108212e-02] [ 1.49441978e-02 -1.98062857e-02 9.99692144e-01 -1.01249188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16719347 meters Centerline goodness [0,1] 0.9099702692517064 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:-1.02 [[ 0.99986954 0.00482543 -0.01541459 3.48354019] [-0.00451292 0.99978488 0.02024414 -0.03531626] [ 0.01550896 -0.02017194 0.99967623 -1.01509237] [ 0. 0. 0. 1. ]] SLAMing on 80.19719347 meters Centerline goodness [0,1] 0.907553009075321 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 0.99985472 0.00581478 -0.0160229 3.4866401 ] [-0.00548227 0.99977031 0.02071873 -0.03373176] [ 0.0161397 -0.02062787 0.99965694 -1.01747719] [ 0. 0. 0. 1. ]] SLAMing on 80.22719347 meters Centerline goodness [0,1] 0.9099966440137596 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 0.99985729 0.00554496 -0.01595789 3.48647505] [-0.00522588 0.99978696 0.01996806 -0.03144834] [ 0.01606521 -0.01988181 0.99967326 -1.01721748] [ 0. 0. 0. 1. ]] SLAMing on 80.25719347 meters Centerline goodness [0,1] 0.9129303652728531 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 9.99869014e-01 1.45598687e-03 -1.61193766e-02 3.48627954e+00] [-1.20655371e-03 9.99879557e-01 1.54730452e-02 -2.95762586e-02] [ 1.61399637e-02 -1.54515695e-02 9.99750344e-01 -1.01637301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28719347 meters Centerline goodness [0,1] 0.9140351978571578 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 9.99862968e-01 -2.72952269e-03 -1.63277522e-02 3.48656931e+00] [ 2.91049874e-03 9.99934485e-01 1.10704791e-02 -2.81185078e-02] [ 1.62964653e-02 -1.11164840e-02 9.99805406e-01 -1.01601270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31719347 meters Centerline goodness [0,1] 0.9124681189112347 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 0.99984183 -0.00682994 -0.01642136 3.48716156] [ 0.0069455 0.99995144 0.00699092 -0.02779085] [ 0.01637282 -0.00710387 0.99984072 -1.01634297] [ 0. 0. 0. 1. ]] SLAMing on 80.34719347000001 meters Centerline goodness [0,1] 0.9122405724718275 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 9.99798151e-01 -1.15789704e-02 -1.64190642e-02 3.48765591e+00] [ 1.16342037e-02 9.99926966e-01 3.27244954e-03 -3.07825096e-02] [ 1.63799734e-02 -3.46281174e-03 9.99859843e-01 -1.01693045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37719347 meters Centerline goodness [0,1] 0.9118808364844256 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 9.99742062e-01 -1.55226620e-02 -1.65787875e-02 3.48818346e+00] [ 1.55125399e-02 9.99879400e-01 -7.38975757e-04 -3.01511860e-02] [ 1.65882590e-02 4.81606044e-04 9.99862289e-01 -1.01688335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40719347 meters Centerline goodness [0,1] 0.9106040888291843 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.02 [[ 9.99730983e-01 -1.62652047e-02 -1.65349603e-02 3.48737778e+00] [ 1.62467139e-02 9.99867230e-01 -1.25200738e-03 -2.97881760e-02] [ 1.65531291e-02 9.83031799e-04 9.99862504e-01 -1.01582414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43719347 meters Centerline goodness [0,1] 0.907372836916623 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.03, Z:-1.01 [[ 9.99721389e-01 -1.67421952e-02 -1.66386031e-02 3.48677236e+00] [ 1.67159293e-02 9.99858806e-01 -1.71644383e-03 -2.87878553e-02] [ 1.66649908e-02 1.43783589e-03 9.99860096e-01 -1.01459644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46719347 meters Centerline goodness [0,1] 0.9010982179859096 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.03, Z:-1.01 [[ 9.99748668e-01 -1.92022688e-02 -1.15703951e-02 3.50036027e+00] [ 1.91973938e-02 9.99815571e-01 -5.32258896e-04 -2.53781551e-02] [ 1.15784817e-02 3.10003692e-04 9.99932919e-01 -1.01310577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49719347 meters Centerline goodness [0,1] 0.9067186877268055 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.02, Z:-1.01 [[ 9.99741194e-01 -1.95699981e-02 -1.16000145e-02 3.50046177e+00] [ 1.95572641e-02 9.99808006e-01 -1.21019119e-03 -2.36929031e-02] [ 1.16214708e-02 9.83013435e-04 9.99931985e-01 -1.01308273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52719347 meters Centerline goodness [0,1] 0.9061949131201209 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.02, Z:-1.01 [[ 9.99738223e-01 -1.95980602e-02 -1.18068591e-02 3.50124986e+00] [ 1.95820619e-02 9.99807174e-01 -1.46909177e-03 -2.26853428e-02] [ 1.18333737e-02 1.23750455e-03 9.99929217e-01 -1.01354971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55719347 meters Centerline goodness [0,1] 0.9092865800142099 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.02, Z:-1.02 [[ 9.99746173e-01 -1.89539114e-02 -1.21794499e-02 3.50320709e+00] [ 1.89410313e-02 9.99819916e-01 -1.17201835e-03 -2.11922544e-02] [ 1.21994709e-02 9.41029523e-04 9.99925141e-01 -1.01503492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58719347 meters Centerline goodness [0,1] 0.9073292442041793 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.02, Z:-1.01 [[ 9.99801651e-01 -1.57811836e-02 -1.21495984e-02 3.50321640e+00] [ 1.57945559e-02 9.99874753e-01 1.00546923e-03 -1.58278710e-02] [ 1.21322092e-02 -1.19716731e-03 9.99925685e-01 -1.01480119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61719347 meters Centerline goodness [0,1] 0.9104739613809245 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.01, Z:-1.01 [[ 0.99984889 -0.01256351 -0.01201519 3.50278131] [ 0.01261295 0.99991226 0.00404803 -0.01421339] [ 0.01196328 -0.00419897 0.99991962 -1.01467456] [ 0. 0. 0. 1. ]] SLAMing on 80.64719347 meters Centerline goodness [0,1] 0.9134372058977308 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.01, Z:-1.01 [[ 9.99848669e-01 -1.24558769e-02 -1.21445353e-02 3.50316493e+00] [ 1.24987623e-02 9.99915895e-01 3.46176898e-03 -1.16669416e-02] [ 1.21003946e-02 -3.61303677e-03 9.99920260e-01 -1.01467156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67719347 meters Centerline goodness [0,1] 0.915247508201517 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-1.02 [[ 0.9998662 -0.01081398 -0.01227331 3.50522864] [ 0.01086741 0.99993172 0.00429493 -0.00818192] [ 0.01222603 -0.00442773 0.99991546 -1.01667583] [ 0. 0. 0. 1. ]] SLAMing on 80.70719347 meters Centerline goodness [0,1] 0.9157180156657964 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-1.02 [[ 0.9998691 -0.01006689 -0.01266628 3.50761194] [ 0.01012663 0.99993786 0.00466098 -0.00667138] [ 0.01261857 -0.00478864 0.99990892 -1.01871116] [ 0. 0. 0. 1. ]] SLAMing on 80.73719347000001 meters Centerline goodness [0,1] 0.9176718240185243 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.00, Z:-1.02 [[ 0.99987025 -0.00940538 -0.01307778 3.50995449] [ 0.00946995 0.99994323 0.00488436 -0.00469692] [ 0.0130311 -0.00500757 0.99990255 -1.02068143] [ 0. 0. 0. 1. ]] SLAMing on 80.76719347 meters Centerline goodness [0,1] 0.911291670147882 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.00, Z:-1.02 [[ 9.99872829e-01 -8.17266508e-03 -1.36943134e-02 3.51277320e+00] [ 8.25073285e-03 9.99949978e-01 5.65397662e-03 -2.81150328e-03] [ 1.36474204e-02 -5.76624572e-03 9.99890243e-01 -1.02265522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79719347 meters Centerline goodness [0,1] 0.9210548469924654 Centerline is valid? [False, False] Translation: X:3.51, Y:0.00, Z:-1.02 [[ 9.99902662e-01 -4.53975343e-03 -1.31930896e-02 3.51110541e+00] [ 4.64759148e-03 9.99955949e-01 8.15469625e-03 1.47842115e-03] [ 1.31554881e-02 -8.21521857e-03 9.99879714e-01 -1.02114343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82719347 meters Centerline goodness [0,1] 0.9218310155035503 Centerline is valid? [False, False] Translation: X:3.51, Y:0.00, Z:-1.02 [[ 0.99990159 -0.00389055 -0.01347901 3.51164669] [ 0.00399595 0.99996158 0.00780197 0.00388524] [ 0.01344813 -0.00785507 0.99987872 -1.02075805] [ 0. 0. 0. 1. ]] SLAMing on 80.85719347 meters Centerline goodness [0,1] 0.9233364769988474 Centerline is valid? [False, False] Translation: X:3.51, Y:0.00, Z:-1.02 [[ 9.99898101e-01 -2.61772527e-03 -1.40333641e-02 3.51345312e+00] [ 2.73312066e-03 9.99962562e-01 8.21006895e-03 4.97437787e-03] [ 1.40113470e-02 -8.24758722e-03 9.99867821e-01 -1.02146644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88719347 meters Centerline goodness [0,1] 0.9237700108959852 Centerline is valid? [False, False] Translation: X:3.52, Y:0.00, Z:-1.02 [[ 9.99895627e-01 3.63536755e-03 -1.39827953e-02 3.51530735e+00] [-3.44716428e-03 9.99903465e-01 1.34602639e-02 4.61077278e-03] [ 1.40303785e-02 -1.34106580e-02 9.99811634e-01 -1.02342425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91719347 meters Centerline goodness [0,1] 0.9205148731777197 Centerline is valid? [False, False] Translation: X:3.52, Y:0.01, Z:-1.02 [[ 0.99988974 0.0043664 -0.01419273 3.51614282] [-0.0041757 0.99990098 0.01343859 0.00648936] [ 0.01425 -0.01337784 0.99980897 -1.02376283] [ 0. 0. 0. 1. ]] SLAMing on 80.94719347 meters Centerline goodness [0,1] 0.9205148731777197 Centerline is valid? [False, False] Translation: X:3.52, Y:0.01, Z:-1.02 [[ 0.99988974 0.0043664 -0.01419273 3.51614282] [-0.0041757 0.99990098 0.01343859 0.00648936] [ 0.01425 -0.01337784 0.99980897 -1.02376283] [ 0. 0. 0. 1. ]] SLAMing on 80.97719347 meters Centerline goodness [0,1] 0.920448084900297 Centerline is valid? [False, False] Translation: X:3.52, Y:0.01, Z:-1.02 [[ 0.99988418 0.00484546 -0.01442761 3.51678094] [-0.00465281 0.99989997 0.01335675 0.00805965] [ 0.01449089 -0.01328807 0.9998067 -1.02383909] [ 0. 0. 0. 1. ]] SLAMing on 81.00719347 meters Centerline goodness [0,1] 0.9201118728182698 Centerline is valid? [False, False] Translation: X:3.52, Y:0.01, Z:-1.02 [[ 0.99987905 0.00518207 -0.01466382 3.51743914] [-0.00498513 0.99989732 0.01343524 0.00837057] [ 0.01473193 -0.01336051 0.99980221 -1.02397116] [ 0. 0. 0. 1. ]] SLAMing on 81.03719347 meters Centerline goodness [0,1] 0.9178603731515955 Centerline is valid? [False, False] Translation: X:3.52, Y:0.01, Z:-1.03 [[ 9.99885177e-01 3.00644675e-03 -1.48523973e-02 3.51913341e+00] [-2.84258786e-03 9.99935003e-01 1.10413064e-02 5.81519711e-03] [ 1.48846270e-02 -1.09978194e-02 9.99828733e-01 -1.02530076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06719347 meters Centerline goodness [0,1] 0.9182116972863644 Centerline is valid? [False, False] Translation: X:3.52, Y:0.00, Z:-1.03 [[ 9.99888394e-01 -2.89912999e-04 -1.49370325e-02 3.51978085e+00] [ 4.05421139e-04 9.99970037e-01 7.73055694e-03 4.13653947e-03] [ 1.49343437e-02 -7.73574995e-03 9.99858552e-01 -1.02580963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09719347000001 meters Centerline goodness [0,1] 0.9187266471047687 Centerline is valid? [False, False] Translation: X:3.52, Y:0.00, Z:-1.03 [[ 9.99882390e-01 -3.31574749e-03 -1.49737192e-02 3.52027751e+00] [ 3.38692518e-03 9.99983075e-01 4.73065309e-03 2.27938322e-03] [ 1.49577801e-02 -4.78081158e-03 9.99876697e-01 -1.02615275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12719347 meters Centerline goodness [0,1] 0.9175839151309306 Centerline is valid? [False, False] Translation: X:3.52, Y:0.00, Z:-1.03 [[ 9.99867183e-01 -5.17272398e-03 -1.54550440e-02 3.52225396e+00] [ 5.21485039e-03 9.99982793e-01 2.68668259e-03 7.87259431e-04] [ 1.54408806e-02 -2.76692149e-03 9.99876954e-01 -1.02710322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15719347 meters Centerline goodness [0,1] 0.9176856170427329 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:-1.03 [[ 9.99887103e-01 -2.33643569e-03 -1.48432262e-02 3.52006930e+00] [ 2.42336560e-03 9.99980003e-01 5.84125299e-03 -3.73659963e-03] [ 1.48292817e-02 -5.87656410e-03 9.99872771e-01 -1.02536230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18719347 meters Centerline goodness [0,1] 0.9157164933383453 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-1.03 [[ 9.99885199e-01 -1.35253704e-03 -1.50917249e-02 3.52076299e+00] [ 1.45899185e-03 9.99974119e-01 7.04507417e-03 -6.16790963e-03] [ 1.50818056e-02 -7.06628409e-03 9.99861294e-01 -1.02551663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21719347 meters Centerline goodness [0,1] 0.9131118002011398 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-1.03 [[ 9.99885732e-01 -6.48138196e-04 -1.51030900e-02 3.52086855e+00] [ 7.73080444e-04 9.99965519e-01 8.26825888e-03 -1.02619035e-02] [ 1.50972102e-02 -8.27898999e-03 9.99851755e-01 -1.02558806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24719347 meters Centerline goodness [0,1] 0.9137213700357218 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-1.03 [[ 9.99879174e-01 -3.16442592e-03 -1.52192125e-02 3.52161413e+00] [ 3.25788329e-03 9.99975966e-01 6.11988193e-03 -1.47252427e-02] [ 1.51994808e-02 -6.16872490e-03 9.99865452e-01 -1.02606710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27719347 meters Centerline goodness [0,1] 0.9133546807308345 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.03, Z:-1.03 [[ 9.99837681e-01 -7.84320904e-03 -1.62202191e-02 3.52551698e+00] [ 7.89479575e-03 9.99963972e-01 3.11881217e-03 -2.85046937e-02] [ 1.61951732e-02 -3.24636124e-03 9.99863579e-01 -1.02806474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30719347 meters Centerline goodness [0,1] 0.9156065972294989 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.04, Z:-1.03 [[ 9.99806141e-01 -1.10926722e-02 -1.62675667e-02 3.52613181e+00] [ 1.11191371e-02 9.99936999e-01 1.53730760e-03 -3.52299891e-02] [ 1.62494890e-02 -1.71789088e-03 9.99866493e-01 -1.02862960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33719347 meters Centerline goodness [0,1] 0.9201558343631527 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.04, Z:-1.03 [[ 9.99760284e-01 -1.44832581e-02 -1.64197723e-02 3.52696433e+00] [ 1.44819704e-02 9.99895111e-01 -1.97329133e-04 -4.12926363e-02] [ 1.64209080e-02 -4.05088265e-05 9.99865167e-01 -1.02920835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36719347 meters Centerline goodness [0,1] 0.9250995181227739 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.06, Z:-1.03 [[ 9.99606596e-01 -2.16059078e-02 -1.78840281e-02 3.52964990e+00] [ 2.16043732e-02 9.99766559e-01 -2.79031954e-04 -5.62140642e-02] [ 1.78858820e-02 -1.07451036e-04 9.99840029e-01 -1.03316052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39719347 meters Centerline goodness [0,1] 0.924611415266503 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.06, Z:-1.03 [[ 9.99528756e-01 -2.48175667e-02 -1.80652827e-02 3.53116915e+00] [ 2.47909345e-02 9.99691218e-01 -1.69671034e-03 -6.39651167e-02] [ 1.81018127e-02 1.24805554e-03 9.99835370e-01 -1.03448552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42719347 meters Centerline goodness [0,1] 0.9269109947643979 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.07, Z:-1.04 [[ 0.99933865 -0.03159019 -0.01800923 3.53201769] [ 0.03146243 0.99947803 -0.00733378 -0.07021204] [ 0.01823151 0.00676231 0.99981092 -1.03503698] [ 0. 0. 0. 1. ]] SLAMing on 81.45719347 meters Centerline goodness [0,1] 0.927281518699939 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.08, Z:-1.03 [[ 0.99911282 -0.03819682 -0.01773627 3.53163177] [ 0.03797239 0.99919652 -0.01282263 -0.0761871 ] [ 0.0182118 0.01213777 0.99976047 -1.03447218] [ 0. 0. 0. 1. ]] SLAMing on 81.48719347000001 meters Centerline goodness [0,1] 0.9266714142091153 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.08, Z:-1.04 [[ 0.99893616 -0.04444583 -0.01229262 3.54243324] [ 0.04435482 0.99898708 -0.00757999 -0.08286135] [ 0.01261707 0.00702669 0.99989571 -1.03795966] [ 0. 0. 0. 1. ]] SLAMing on 81.51719347 meters Centerline goodness [0,1] 0.8999666207702257 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.09, Z:-1.04 [[ 0.99854878 -0.05242149 -0.01234177 3.54367109] [ 0.05225879 0.99854691 -0.01315611 -0.08917557] [ 0.0130135 0.01249205 0.99983729 -1.03864839] [ 0. 0. 0. 1. ]] SLAMing on 81.54719347 meters Centerline goodness [0,1] 0.903179341586122 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.09, Z:-1.04 [[ 0.99852846 -0.05276707 -0.01251226 3.5444689 ] [ 0.05261506 0.99854057 -0.01218161 -0.09300005] [ 0.01313679 0.01150535 0.99984751 -1.03925623] [ 0. 0. 0. 1. ]] SLAMing on 81.57719347 meters Centerline goodness [0,1] 0.9031168722208239 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.10, Z:-1.04 [[ 0.99851795 -0.05297983 -0.01245161 3.5447532 ] [ 0.05283918 0.99853835 -0.01136575 -0.09663003] [ 0.01303556 0.01069097 0.99985788 -1.03968286] [ 0. 0. 0. 1. ]] SLAMing on 81.60719347 meters Centerline goodness [0,1] 0.8683539008575611 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-1.04 [[ 0.99832768 -0.05653439 -0.01207085 3.54500658] [ 0.05635973 0.9983074 -0.01435005 -0.09996143] [ 0.01286169 0.01364574 0.99982417 -1.04019784] [ 0. 0. 0. 1. ]] SLAMing on 81.63719347 meters Centerline goodness [0,1] 0.8814992691584882 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-1.04 [[ 0.99832555 -0.05659908 -0.01194362 3.54516231] [ 0.05642793 0.99830553 -0.01421096 -0.10047419] [ 0.01272771 0.01351321 0.99982768 -1.04064685] [ 0. 0. 0. 1. ]] SLAMing on 81.66719347 meters Centerline goodness [0,1] 0.8718039698607836 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-1.04 [[ 0.99849639 -0.05348817 -0.01199885 3.54507072] [ 0.053364 0.99852054 -0.01044102 -0.10126793] [ 0.01253957 0.00978502 0.9998735 -1.04089383] [ 0. 0. 0. 1. ]] SLAMing on 81.69719347 meters Centerline goodness [0,1] 0.8155548147839493 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.10, Z:-1.04 [[ 0.99862724 -0.0510279 -0.01182339 3.54391644] [ 0.05093829 0.99867165 -0.00776099 -0.09837065] [ 0.01220371 0.00714808 0.99989998 -1.04015652] [ 0. 0. 0. 1. ]] SLAMing on 81.72719347 meters Centerline goodness [0,1] 0.8415961558550089 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.10, Z:-1.04 [[ 0.99877872 -0.04795272 -0.01190012 3.54402174] [ 0.04790405 0.99884251 -0.00434172 -0.0979945 ] [ 0.01209454 0.00376636 0.99991977 -1.04055608] [ 0. 0. 0. 1. ]] SLAMing on 81.75719347 meters Centerline goodness [0,1] 0.8337524623831678 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-1.04 [[ 9.98801375e-01 -4.74101510e-02 -1.21692776e-02 3.54606822e+00] [ 4.73655950e-02 9.98869913e-01 -3.92397970e-03 -9.72175163e-02] [ 1.23415617e-02 3.34287124e-03 9.99918252e-01 -1.04257576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78719347 meters Centerline goodness [0,1] 0.8261837860339265 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.10, Z:-1.05 [[ 9.98824496e-01 -4.68357725e-02 -1.24914890e-02 3.54857493e+00] [ 4.67961186e-02 9.98898510e-01 -3.44825291e-03 -9.64764021e-02] [ 1.26392313e-02 2.85964628e-03 9.99916033e-01 -1.04501209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81719347 meters Centerline goodness [0,1] 0.8217422214787554 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-1.05 [[ 9.98849452e-01 -4.62190231e-02 -1.27896352e-02 3.55128970e+00] [ 4.61810274e-02 9.98927799e-01 -3.25053600e-03 -9.30480061e-02] [ 1.29261588e-02 2.65615761e-03 9.99912926e-01 -1.04784616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84719347000001 meters Centerline goodness [0,1] 0.8032981695367551 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-1.05 [[ 9.98867821e-01 -4.57411672e-02 -1.30698482e-02 3.55341771e+00] [ 4.57076246e-02 9.98950784e-01 -2.85385473e-03 -9.16866191e-02] [ 1.31866738e-02 2.25323194e-03 9.99910513e-01 -1.04986550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87719347 meters Centerline goodness [0,1] 0.7870140180082311 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-1.05 [[ 9.98853618e-01 -4.60355257e-02 -1.31217775e-02 3.55429282e+00] [ 4.59976643e-02 9.98936508e-01 -3.17288601e-03 -9.03753529e-02] [ 1.32538881e-02 2.56567756e-03 9.99908872e-01 -1.05085521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90719347 meters Centerline goodness [0,1] 0.7689093101584266 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:-1.05 [[ 0.99879261 -0.0474082 -0.01287608 3.55428624] [ 0.04735124 0.99886727 -0.0046934 -0.08598681] [ 0.013084 0.00407804 0.99990608 -1.05124373] [ 0. 0. 0. 1. ]] SLAMing on 81.93719347 meters Centerline goodness [0,1] 0.8062735257214555 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.08, Z:-1.05 [[ 9.98921490e-01 -4.46215286e-02 -1.28365170e-02 3.55398728e+00] [ 4.46047181e-02 9.99003444e-01 -1.59305318e-03 -8.46248903e-02] [ 1.28948092e-02 1.01876584e-03 9.99916340e-01 -1.05133072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96719347 meters Centerline goodness [0,1] 0.8030230276206184 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.08, Z:-1.05 [[ 9.99040848e-01 -4.17828152e-02 -1.30988765e-02 3.55468900e+00] [ 4.18048665e-02 9.99124794e-01 1.41406587e-03 -8.29065103e-02] [ 1.30283286e-02 -1.96030635e-03 9.99913206e-01 -1.05198569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99719347 meters Centerline goodness [0,1] 0.784083564414236 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.08, Z:-1.05 [[ 9.99061928e-01 -4.11341687e-02 -1.35368055e-02 3.55702734e+00] [ 4.11591970e-02 9.99151359e-01 1.57541893e-03 -7.99299807e-02] [ 1.34605141e-02 -2.13110512e-03 9.99907132e-01 -1.05385380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02719347 meters Centerline goodness [0,1] 0.8017515757941378 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.07, Z:-1.06 [[ 9.99149316e-01 -3.87970132e-02 -1.39798328e-02 3.55971426e+00] [ 3.88311349e-02 9.99243414e-01 2.17756184e-03 -7.26785583e-02] [ 1.38847730e-02 -2.71856220e-03 9.99899906e-01 -1.05631944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05719347 meters Centerline goodness [0,1] 0.810372601937279 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.07, Z:-1.06 [[ 0.99927765 -0.03531666 -0.01403226 3.55975606] [ 0.03538638 0.99936241 0.00475216 -0.06849146] [ 0.01385548 -0.00524528 0.99989025 -1.05653939] [ 0. 0. 0. 1. ]] SLAMing on 82.08719347 meters Centerline goodness [0,1] 0.8584729198629705 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.06, Z:-1.06 [[ 0.99940015 -0.03163466 -0.01409224 3.55971817] [ 0.03173784 0.99947059 0.00715905 -0.06264831] [ 0.0138583 -0.00760202 0.99987507 -1.05656561] [ 0. 0. 0. 1. ]] SLAMing on 82.11719347 meters Centerline goodness [0,1] 0.8890579408086703 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.06, Z:-1.06 [[ 0.99965336 -0.02444852 -0.00976847 3.5675027 ] [ 0.02449558 0.99968876 0.00472761 -0.05566127] [ 0.00964984 -0.00496526 0.99994111 -1.0570162 ] [ 0. 0. 0. 1. ]] SLAMing on 82.14719347 meters Centerline goodness [0,1] 0.9000994241683582 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.04, Z:-1.05 [[ 0.99986813 -0.01374349 -0.00865122 3.56553104] [ 0.0138225 0.99986269 0.00913982 -0.04114299] [ 0.00852442 -0.0092582 0.99992081 -1.0523524 ] [ 0. 0. 0. 1. ]] SLAMing on 82.17719347 meters Centerline goodness [0,1] 0.9026110913986349 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.04, Z:-1.05 [[ 0.9999084 -0.01051095 -0.00852746 3.56446623] [ 0.01060446 0.99988331 0.01099597 -0.03546403] [ 0.00841089 -0.01108539 0.99990318 -1.05119583] [ 0. 0. 0. 1. ]] SLAMing on 82.20719347 meters Centerline goodness [0,1] 0.9020371417205787 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.03, Z:-1.05 [[ 0.99993733 -0.00713734 -0.0086251 3.56465286] [ 0.00725294 0.99988329 0.01344657 -0.03165288] [ 0.00852812 -0.01350828 0.99987239 -1.05124009] [ 0. 0. 0. 1. ]] SLAMing on 82.23719347000001 meters Centerline goodness [0,1] 0.9007547641883158 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.03, Z:-1.05 [[ 0.99995011 -0.00455485 -0.00889042 3.56659392] [ 0.00468372 0.99988349 0.01452854 -0.02527641] [ 0.0088232 -0.01456946 0.99985493 -1.05286652] [ 0. 0. 0. 1. ]] SLAMing on 82.26719347 meters Centerline goodness [0,1] 0.8983596280430467 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-1.05 [[ 0.99994685 -0.00476644 -0.00914175 3.56763408] [ 0.00489161 0.99989392 0.0137191 -0.0223882 ] [ 0.00907539 -0.01376309 0.9998641 -1.05355749] [ 0. 0. 0. 1. ]] SLAMing on 82.29719347 meters Centerline goodness [0,1] 0.8993983052611855 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-1.05 [[ 0.99994272 -0.00499319 -0.00946734 3.5690508 ] [ 0.00511687 0.9999013 0.01308502 -0.01959672] [ 0.00940107 -0.01313271 0.99986957 -1.05454851] [ 0. 0. 0. 1. ]] SLAMing on 82.32719347 meters Centerline goodness [0,1] 0.8969282707456341 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.02, Z:-1.06 [[ 0.9999391 -0.00530694 -0.00967608 3.56996978] [ 0.00542697 0.99990813 0.01242101 -0.01721414] [ 0.00960928 -0.01247277 0.99987604 -1.05516603] [ 0. 0. 0. 1. ]] SLAMing on 82.35719347 meters Centerline goodness [0,1] 0.8968333752199045 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-1.06 [[ 0.99992858 -0.00658459 -0.00997423 3.57146504] [ 0.00669403 0.99991732 0.01097882 -0.0143267 ] [ 0.00990111 -0.0110448 0.99988998 -1.05637703] [ 0. 0. 0. 1. ]] SLAMing on 82.38719347 meters Centerline goodness [0,1] 0.8950226809272129 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-1.06 [[ 0.99989902 -0.00950843 -0.01056112 3.57422498] [ 0.00958966 0.99992461 0.00766834 -0.01287781] [ 0.01048741 -0.00776884 0.99991483 -1.05820177] [ 0. 0. 0. 1. ]] SLAMing on 82.41719347 meters Centerline goodness [0,1] 0.8916736577181208 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.06 [[ 0.99989295 -0.0100113 -0.01067024 3.5751343 ] [ 0.01008988 0.99992218 0.00733701 -0.01347762] [ 0.01059596 -0.00744388 0.99991615 -1.05912981] [ 0. 0. 0. 1. ]] SLAMing on 82.44719347 meters Centerline goodness [0,1] 0.8914280948310015 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.06 [[ 0.99986219 -0.0121051 -0.01136122 3.57990068] [ 0.0121613 0.99991409 0.00489009 -0.01195775] [ 0.01130105 -0.00502758 0.9999235 -1.06320618] [ 0. 0. 0. 1. ]] SLAMing on 82.47719347 meters Centerline goodness [0,1] 0.8912522655778005 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.06 [[ 0.99985802 -0.01221171 -0.01161085 3.58128685] [ 0.01226578 0.9999142 0.00459759 -0.01032975] [ 0.01155371 -0.00473936 0.99992202 -1.06430724] [ 0. 0. 0. 1. ]] SLAMing on 82.50719347 meters Centerline goodness [0,1] 0.8899654703358795 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.06 [[ 0.99985319 -0.01247981 -0.01174133 3.58193922] [ 0.01252846 0.99991319 0.00407937 -0.00837741] [ 0.0116894 -0.00422587 0.99992275 -1.06480444] [ 0. 0. 0. 1. ]] SLAMing on 82.53719347 meters Centerline goodness [0,1] 0.8879377268626341 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.07 [[ 0.99984738 -0.01277743 -0.01191402 3.58249016] [ 0.0128219 0.99991108 0.00366397 -0.00718627] [ 0.01186615 -0.00381617 0.99992231 -1.06509332] [ 0. 0. 0. 1. ]] SLAMing on 82.56719347 meters Centerline goodness [0,1] 0.8861127981737837 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.07 [[ 9.99842204e-01 -1.30445309e-02 -1.20584868e-02 3.58326882e+00] [ 1.30867751e-02 9.99908478e-01 3.43103156e-03 -6.77991549e-03] [ 1.20126270e-02 -3.58829687e-03 9.99921407e-01 -1.06571229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59719347000001 meters Centerline goodness [0,1] 0.8824846696385593 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.07 [[ 9.99826560e-01 -1.40548414e-02 -1.22192850e-02 3.58393778e+00] [ 1.40904152e-02 9.99896720e-01 2.83007721e-03 -6.69472445e-03] [ 1.21782467e-02 -3.00176116e-03 9.99921337e-01 -1.06631500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62719347 meters Centerline goodness [0,1] 0.8746585482828367 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.07 [[ 9.99815168e-01 -1.45476631e-02 -1.25696551e-02 3.58495681e+00] [ 1.45840083e-02 9.99889714e-01 2.80468571e-03 -7.36160451e-03] [ 1.25274672e-02 -2.98748327e-03 9.99917065e-01 -1.06684199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65719347 meters Centerline goodness [0,1] 0.8682345092152448 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-1.07 [[ 9.99809243e-01 -1.49364670e-02 -1.25848893e-02 3.58526581e+00] [ 1.49746947e-02 9.99883525e-01 2.94884308e-03 -8.82609432e-03] [ 1.25393782e-02 -3.13673544e-03 9.99916459e-01 -1.06719499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68719347 meters Centerline goodness [0,1] 0.8531860591607046 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.07 [[ 9.99802071e-01 -1.54930490e-02 -1.24813707e-02 3.58474542e+00] [ 1.55306047e-02 9.99875136e-01 2.91764382e-03 -1.01041661e-02] [ 1.24346090e-02 -3.11090957e-03 9.99917848e-01 -1.06673562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71719347 meters Centerline goodness [0,1] 0.8475934706894381 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.07 [[ 9.99790421e-01 -1.64616725e-02 -1.21707400e-02 3.58315605e+00] [ 1.64911356e-02 9.99861310e-01 2.32442858e-03 -9.63243460e-03] [ 1.21307880e-02 -2.52465075e-03 9.99923232e-01 -1.06521353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74719347 meters Centerline goodness [0,1] 0.8401828398892897 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-1.07 [[ 9.99786217e-01 -1.64694722e-02 -1.25010723e-02 3.58402111e+00] [ 1.65004449e-02 9.99861029e-01 2.37850978e-03 -9.07990928e-03] [ 1.24601622e-02 -2.58427455e-03 9.99919030e-01 -1.06544225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77719347 meters Centerline goodness [0,1] 0.8209067851677951 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-1.07 [[ 9.99786416e-01 -1.61921753e-02 -1.28427131e-02 3.58519193e+00] [ 1.62278594e-02 9.99864730e-01 2.67921801e-03 -8.84236734e-03] [ 1.27975935e-02 -2.88705552e-03 9.99913940e-01 -1.06606829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80719347 meters Centerline goodness [0,1] 0.8303177868267495 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-1.07 [[ 9.99789821e-01 -1.59286668e-02 -1.29070234e-02 3.58528166e+00] [ 1.59647295e-02 9.99868921e-01 2.69583252e-03 -7.93883539e-03] [ 1.28623906e-02 -2.90132305e-03 9.99913067e-01 -1.06578430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83719347 meters Centerline goodness [0,1] 0.8303177868267495 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-1.07 [[ 9.99789821e-01 -1.59286668e-02 -1.29070234e-02 3.58528166e+00] [ 1.59647295e-02 9.99868921e-01 2.69583252e-03 -7.93883539e-03] [ 1.28623906e-02 -2.90132305e-03 9.99913067e-01 -1.06578430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86719347 meters Centerline goodness [0,1] 0.8331415420023015 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-1.07 [[ 9.99788941e-01 -1.58230465e-02 -1.31036334e-02 3.58605947e+00] [ 1.58596448e-02 9.99870599e-01 2.69379324e-03 -7.57762406e-03] [ 1.30593138e-02 -2.90104366e-03 9.99910515e-01 -1.06616419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89719347 meters Centerline goodness [0,1] 0.8258366018526245 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-1.07 [[ 9.99786687e-01 -1.56109477e-02 -1.35232893e-02 3.58732045e+00] [ 1.56496221e-02 9.99873731e-01 2.75874631e-03 -6.98018470e-03] [ 1.34785151e-02 -2.96979220e-03 9.99904750e-01 -1.06672068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92719347 meters Centerline goodness [0,1] 0.8589690032584176 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.00, Z:-1.07 [[ 0.9998233 -0.01307933 -0.01350173 3.58691754] [ 0.01314866 0.99990076 0.00505883 -0.00387832] [ 0.01343422 -0.00523546 0.99989605 -1.06640251] [ 0. 0. 0. 1. ]] SLAMing on 82.95719347 meters Centerline goodness [0,1] 0.8339157929772009 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.00, Z:-1.07 [[ 9.99816023e-01 -1.31735608e-02 -1.39419170e-02 3.58821118e+00] [ 1.32396199e-02 9.99901510e-01 4.65651949e-03 -1.43996684e-03] [ 1.38792009e-02 -4.84024849e-03 9.99891964e-01 -1.06683143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98719347000001 meters Centerline goodness [0,1] 0.8490400301167023 Centerline is valid? [False, False] Translation: X:3.59, Y:0.00, Z:-1.07 [[ 9.99808651e-01 -1.35367937e-02 -1.41215032e-02 3.58875619e+00] [ 1.35952171e-02 9.99899381e-01 4.04943015e-03 6.74292774e-04] [ 1.40652660e-02 -4.24064020e-03 9.99892087e-01 -1.06700921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01719347 meters Centerline goodness [0,1] 0.8268358259116115 Centerline is valid? [False, False] Translation: X:3.59, Y:0.00, Z:-1.07 [[ 9.99795221e-01 -1.42856430e-02 -1.43330704e-02 3.59030713e+00] [ 1.43344873e-02 9.99891774e-01 3.31087226e-03 1.97310058e-03] [ 1.42842212e-02 -3.51565147e-03 9.99891795e-01 -1.06864563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04719347 meters Centerline goodness [0,1] 0.7664755550922547 Centerline is valid? [False, False] Translation: X:3.59, Y:0.00, Z:-1.07 [[ 9.99743838e-01 -1.69724829e-02 -1.49730953e-02 3.59334236e+00] [ 1.69819764e-02 9.99855667e-01 5.07114940e-04 3.00214541e-03] [ 1.49623272e-02 -7.61257788e-04 9.99887768e-01 -1.07067968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07719347 meters Centerline goodness [0,1] 0.7913584889891772 Centerline is valid? [False, False] Translation: X:3.59, Y:0.00, Z:-1.07 [[ 9.99735210e-01 -1.73407764e-02 -1.51263817e-02 3.59388502e+00] [ 1.73466373e-02 9.99849503e-01 2.56334366e-04 3.60762427e-03] [ 1.51196602e-02 -5.18658348e-04 9.99885557e-01 -1.07098370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10719347 meters Centerline goodness [0,1] 0.7957443250700221 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-1.07 [[ 9.99773591e-01 -1.53108750e-02 -1.47764793e-02 3.59239236e+00] [ 1.53449628e-02 9.99879847e-01 2.19627472e-03 7.66805940e-03] [ 1.47410770e-02 -2.42252199e-03 9.99888410e-01 -1.07003445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13719347 meters Centerline goodness [0,1] 0.8169423475042346 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-1.07 [[ 0.99981389 -0.01249755 -0.01469679 3.59153759] [ 0.01256892 0.99990961 0.0047737 0.0098382 ] [ 0.0146358 -0.00495753 0.9998806 -1.06920691] [ 0. 0. 0. 1. ]] SLAMing on 83.16719347 meters Centerline goodness [0,1] 0.8019376122270013 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-1.07 [[ 0.99981082 -0.01239975 -0.01498591 3.5921883 ] [ 0.01245903 0.9999149 0.00386858 0.01340004] [ 0.01493666 -0.00405455 0.99988022 -1.06894869] [ 0. 0. 0. 1. ]] SLAMing on 83.19719347 meters Centerline goodness [0,1] 0.8060874655071495 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:-1.07 [[ 0.99982099 -0.01125385 -0.01520965 3.59357011] [ 0.01131637 0.99992784 0.0040306 0.01629393] [ 0.01516319 -0.00420199 0.9998762 -1.06981845] [ 0. 0. 0. 1. ]] SLAMing on 83.22719347 meters Centerline goodness [0,1] 0.8737618108192295 Centerline is valid? [False, False] Translation: X:3.60, Y:0.02, Z:-1.07 [[ 9.99968217e-01 -1.07240663e-03 -7.90030529e-03 3.59730526e+00] [ 1.06317079e-03 9.99998747e-01 -1.17315612e-03 2.36878075e-02] [ 7.90155349e-03 1.16471946e-03 9.99968104e-01 -1.07361673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25719347 meters Centerline goodness [0,1] 0.8865675387414518 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:-1.07 [[ 9.99965127e-01 2.64241526e-03 -7.92230353e-03 3.59722597e+00] [-2.63107935e-03 9.99995501e-01 1.44096631e-03 2.83258992e-02] [ 7.92607552e-03 -1.42007185e-03 9.99967580e-01 -1.07308868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28719347 meters Centerline goodness [0,1] 0.8910574875798438 Centerline is valid? [False, False] Translation: X:3.60, Y:0.03, Z:-1.07 [[ 0.99994613 0.00639009 -0.00817923 3.59797071] [-0.00635418 0.99997009 0.00440907 0.03189234] [ 0.00820716 -0.00435686 0.99995683 -1.07316838] [ 0. 0. 0. 1. ]] SLAMing on 83.31719347 meters Centerline goodness [0,1] 0.8919614821017375 Centerline is valid? [False, False] Translation: X:3.60, Y:0.04, Z:-1.07 [[ 0.99993719 0.00714621 -0.00863444 3.59989141] [-0.00711086 0.99996624 0.00411841 0.03570051] [ 0.00866358 -0.00405675 0.99995424 -1.074165 ] [ 0. 0. 0. 1. ]] SLAMing on 83.34719347000001 meters Centerline goodness [0,1] 0.8930912126904613 Centerline is valid? [False, False] Translation: X:3.60, Y:0.04, Z:-1.08 [[ 0.9999223 0.00833826 -0.00926688 3.60362239] [-0.00829735 0.9999557 0.00444429 0.03790913] [ 0.00930353 -0.00436705 0.99994719 -1.07728916] [ 0. 0. 0. 1. ]] SLAMing on 83.37719347 meters Centerline goodness [0,1] 0.8959554513481829 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:-1.08 [[ 9.99935674e-01 5.76353290e-03 -9.76881588e-03 3.60615640e+00] [-5.75228710e-03 9.99982761e-01 1.17890036e-03 3.95514437e-02] [ 9.77544210e-03 -1.12263149e-03 9.99951589e-01 -1.07902479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40719347 meters Centerline goodness [0,1] 0.8955808980755524 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:-1.08 [[ 9.99933264e-01 5.56693591e-03 -1.01230592e-02 3.60739990e+00] [-5.55765972e-03 9.99984110e-01 9.44242808e-04 4.00572611e-02] [ 1.01281549e-02 -8.87919275e-04 9.99948315e-01 -1.07979193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43719347 meters Centerline goodness [0,1] 0.8997773755279529 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:-1.08 [[ 9.99916803e-01 6.81663860e-03 -1.09507967e-02 3.61088027e+00] [-6.79702460e-03 9.99975230e-01 1.82732297e-03 4.22262843e-02] [ 1.09629816e-02 -1.75273811e-03 9.99938369e-01 -1.08197378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46719347 meters Centerline goodness [0,1] 0.904624216900287 Centerline is valid? [False, False] Translation: X:3.61, Y:0.04, Z:-1.08 [[ 9.99913941e-01 6.78168024e-03 -1.12303178e-02 3.61140576e+00] [-6.76658831e-03 9.99976152e-01 1.38130858e-03 4.40849875e-02] [ 1.12394176e-02 -1.30519876e-03 9.99935984e-01 -1.08180137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49719347 meters Centerline goodness [0,1] 0.9041792168674698 Centerline is valid? [False, False] Translation: X:3.61, Y:0.05, Z:-1.08 [[ 9.99909133e-01 6.86351821e-03 -1.16024753e-02 3.61236817e+00] [-6.85144657e-03 9.99975945e-01 1.07986512e-03 4.55347366e-02] [ 1.16096078e-02 -1.00027326e-03 9.99932106e-01 -1.08194829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52719347 meters Centerline goodness [0,1] 0.9052125770395905 Centerline is valid? [False, False] Translation: X:3.61, Y:0.05, Z:-1.08 [[ 9.99905747e-01 6.85120092e-03 -1.18978615e-02 3.61300169e+00] [-6.84287990e-03 9.99976313e-01 7.39940325e-04 4.64199263e-02] [ 1.19026492e-02 -6.58454945e-04 9.99928944e-01 -1.08190018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55719347 meters Centerline goodness [0,1] 0.9073375960677317 Centerline is valid? [False, False] Translation: X:3.61, Y:0.05, Z:-1.08 [[ 9.99893474e-01 7.73284759e-03 -1.23791562e-02 3.61482263e+00] [-7.72438030e-03 9.99969899e-01 7.31663547e-04 4.74932136e-02] [ 1.23844414e-02 -6.35964296e-04 9.99923108e-01 -1.08273863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58719347 meters Centerline goodness [0,1] 0.9062415168410283 Centerline is valid? [False, False] Translation: X:3.62, Y:0.05, Z:-1.08 [[ 9.99887416e-01 8.00661505e-03 -1.26905610e-02 3.61583517e+00] [-8.00029315e-03 9.99967847e-01 5.48846218e-04 4.86046598e-02] [ 1.26945474e-02 -4.47256218e-04 9.99919321e-01 -1.08316696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61719347 meters Centerline goodness [0,1] 0.9087380261702527 Centerline is valid? [False, False] Translation: X:3.62, Y:0.05, Z:-1.08 [[ 9.99881319e-01 8.18858222e-03 -1.30496869e-02 3.61688774e+00] [-8.18576179e-03 9.99966460e-01 2.69529087e-04 5.00884475e-02] [ 1.30514562e-02 -1.62675471e-04 9.99914813e-01 -1.08350023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64719347 meters Centerline goodness [0,1] 0.912183560896831 Centerline is valid? [False, False] Translation: X:3.62, Y:0.05, Z:-1.08 [[ 9.99876727e-01 8.40739647e-03 -1.32606981e-02 3.61738510e+00] [-8.40990619e-03 9.99964627e-01 -1.33506942e-04 5.22425389e-02] [ 1.32591066e-02 2.45011711e-04 9.99912064e-01 -1.08338774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67719347 meters Centerline goodness [0,1] 0.9094596855135497 Centerline is valid? [False, False] Translation: X:3.63, Y:0.05, Z:-1.09 [[ 0.9999631 0.00467092 -0.00720952 3.62870848] [-0.00462967 0.99997288 0.00572705 0.05085876] [ 0.00723608 -0.00569347 0.99995761 -1.08715894] [ 0. 0. 0. 1. ]] SLAMing on 83.70719347 meters Centerline goodness [0,1] 0.9091325532003498 Centerline is valid? [False, False] Translation: X:3.63, Y:0.05, Z:-1.09 [[ 9.99971422e-01 9.20651989e-04 -7.50389990e-03 3.62911846e+00] [-9.05682736e-04 9.99997594e-01 1.99801709e-03 5.03740499e-02] [ 7.50572132e-03 -1.99116384e-03 9.99969849e-01 -1.08678213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73719347000001 meters Centerline goodness [0,1] 0.9107157789112802 Centerline is valid? [False, False] Translation: X:3.63, Y:0.05, Z:-1.09 [[ 9.99973383e-01 -7.50259687e-04 -7.25749503e-03 3.62732816e+00] [ 7.57929631e-04 9.99999157e-01 1.05413817e-03 4.78837093e-02] [ 7.25669803e-03 -1.05961078e-03 9.99973108e-01 -1.08528007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76719347 meters Centerline goodness [0,1] 0.9091500251720087 Centerline is valid? [False, False] Translation: X:3.63, Y:0.04, Z:-1.08 [[ 9.99955347e-01 -5.88116785e-03 -7.39695887e-03 3.62694087e+00] [ 5.86245871e-03 9.99979568e-01 -2.54844693e-03 4.39049469e-02] [ 7.41179558e-03 2.50496877e-03 9.99969395e-01 -1.08478086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79719347 meters Centerline goodness [0,1] 0.9075114222240852 Centerline is valid? [False, False] Translation: X:3.63, Y:0.04, Z:-1.09 [[ 9.99948860e-01 -6.52041237e-03 -7.73054426e-03 3.62761729e+00] [ 6.50536593e-03 9.99976900e-01 -1.96991310e-03 4.05529264e-02] [ 7.74321033e-03 1.91952234e-03 9.99968179e-01 -1.08518558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82719347 meters Centerline goodness [0,1] 0.9021714094268903 Centerline is valid? [False, False] Translation: X:3.63, Y:0.04, Z:-1.09 [[ 9.99942901e-01 -7.02060519e-03 -8.05644824e-03 3.62831196e+00] [ 7.01199879e-03 9.99974815e-01 -1.09601316e-03 3.66609291e-02] [ 8.06394001e-03 1.03945878e-03 9.99966946e-01 -1.08567264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85719347 meters Centerline goodness [0,1] 0.9029526111169486 Centerline is valid? [False, False] Translation: X:3.63, Y:0.03, Z:-1.09 [[ 9.99937964e-01 -7.63420662e-03 -8.11089483e-03 3.62833791e+00] [ 7.63093157e-03 9.99970790e-01 -4.34654520e-04 3.27271975e-02] [ 8.11397615e-03 3.72733872e-04 9.99967012e-01 -1.08587235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88719347 meters Centerline goodness [0,1] 0.8770231937260137 Centerline is valid? [False, False] Translation: X:3.64, Y:0.03, Z:-1.09 [[ 9.99890981e-01 -1.45483861e-02 -2.52416737e-03 3.64004690e+00] [ 1.45584342e-02 9.99885983e-01 4.00913907e-03 2.64650774e-02] [ 2.46555307e-03 -4.04544993e-03 9.99988778e-01 -1.08995600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91719347 meters Centerline goodness [0,1] 0.8600874453466584 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-1.09 [[ 9.99887063e-01 -1.47312473e-02 -2.97530536e-03 3.64111749e+00] [ 1.47452167e-02 9.99880100e-01 4.72906681e-03 2.39893762e-02] [ 2.90528357e-03 -4.77240425e-03 9.99984392e-01 -1.09037616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94719347 meters Centerline goodness [0,1] 0.8564384363051336 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-1.09 [[ 9.99882988e-01 -1.49653763e-02 -3.16986654e-03 3.64149829e+00] [ 1.49817587e-02 9.99874199e-01 5.20903263e-03 2.18223428e-02] [ 3.09151263e-03 -5.25591329e-03 9.99981409e-01 -1.09050864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97719347 meters Centerline goodness [0,1] 0.8439023365271474 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-1.09 [[ 9.99827931e-01 -1.82171423e-02 -3.49913289e-03 3.64273824e+00] [ 1.82257615e-02 9.99830902e-01 2.44736082e-03 1.89849053e-02] [ 3.45395728e-03 -2.51071406e-03 9.99990883e-01 -1.09118235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00719347 meters Centerline goodness [0,1] 0.8339358527050318 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-1.09 [[ 9.99839860e-01 -1.74489232e-02 -3.97346768e-03 3.64455484e+00] [ 1.74632236e-02 9.99841050e-01 3.59318859e-03 1.67498418e-02] [ 3.91013882e-03 -3.66200273e-03 9.99985650e-01 -1.09243728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03719347 meters Centerline goodness [0,1] 0.8195999916578031 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99985328 -0.01647924 -0.00467452 3.64699037] [ 0.01650102 0.99985299 0.00466012 0.01551234] [ 0.00459704 -0.00473657 0.99997822 -1.09386009] [ 0. 0. 0. 1. ]] SLAMing on 84.06719347 meters Centerline goodness [0,1] 0.8699941230795063 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99991467 -0.01219393 -0.00468565 3.64644602] [ 0.01223364 0.99988867 0.0085427 0.0166748 ] [ 0.00458095 -0.0085993 0.99995253 -1.09307109] [ 0. 0. 0. 1. ]] SLAMing on 84.09719347000001 meters Centerline goodness [0,1] 0.8737705604151844 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99991729 -0.01179552 -0.00512571 3.64685125] [ 0.01183684 0.99989707 0.00810758 0.01910274] [ 0.00502955 -0.00816758 0.999954 -1.09215095] [ 0. 0. 0. 1. ]] SLAMing on 84.12719347 meters Centerline goodness [0,1] 0.8833988787549159 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99991802 -0.01156867 -0.00548893 3.64724835] [ 0.0116113 0.99990218 0.00779824 0.02050016] [ 0.00539817 -0.00786133 0.99995453 -1.09159074] [ 0. 0. 0. 1. ]] SLAMing on 84.15719347 meters Centerline goodness [0,1] 0.8862078363137041 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99991981 -0.011346 -0.00562461 3.64751747] [ 0.01138955 0.99990493 0.00777234 0.02069737] [ 0.00553589 -0.00783577 0.99995398 -1.09151937] [ 0. 0. 0. 1. ]] SLAMing on 84.18719347 meters Centerline goodness [0,1] 0.8922174505080129 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99991445 -0.0117589 -0.00572845 3.64762504] [ 0.01180162 0.99990236 0.00748238 0.02009783] [ 0.00563991 -0.00754935 0.9999556 -1.09146348] [ 0. 0. 0. 1. ]] SLAMing on 84.21719347 meters Centerline goodness [0,1] 0.8919434658614327 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99990879 -0.01221214 -0.00576919 3.64726227] [ 0.01225394 0.99989852 0.00726534 0.01998156] [ 0.00567988 -0.00733537 0.99995696 -1.09087809] [ 0. 0. 0. 1. ]] SLAMing on 84.24719347 meters Centerline goodness [0,1] 0.8654934134986744 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99990054 -0.01274961 -0.00602993 3.64725705] [ 0.01279069 0.99989491 0.00682367 0.0207124 ] [ 0.0059423 -0.00690012 0.99995854 -1.09015913] [ 0. 0. 0. 1. ]] SLAMing on 84.27719347 meters Centerline goodness [0,1] 0.8399413858069918 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99989229 -0.01335255 -0.00609204 3.64645271] [ 0.01339011 0.99989133 0.00616739 0.02184678] [ 0.00600903 -0.0062483 0.99996242 -1.08883198] [ 0. 0. 0. 1. ]] SLAMing on 84.30719347 meters Centerline goodness [0,1] 0.8363462179273575 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99988176 -0.01395164 -0.00646673 3.64684319] [ 0.01398753 0.99988683 0.00553805 0.02307694] [ 0.00638873 -0.00562785 0.99996376 -1.08844604] [ 0. 0. 0. 1. ]] SLAMing on 84.33719347 meters Centerline goodness [0,1] 0.8416664929868073 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.99988269 -0.01381687 -0.00661068 3.6474029 ] [ 0.01385349 0.99988876 0.00552638 0.02346778] [ 0.00653358 -0.00561732 0.99996288 -1.0887493 ] [ 0. 0. 0. 1. ]] SLAMing on 84.36719347 meters Centerline goodness [0,1] 0.8310603370856916 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-1.09 [[ 0.999883 -0.01366122 -0.00688187 3.64830168] [ 0.0136991 0.9998911 0.00548776 0.02405311] [ 0.00680615 -0.00558139 0.99996126 -1.08920277] [ 0. 0. 0. 1. ]] SLAMing on 84.39719347 meters Centerline goodness [0,1] 0.8476122564543529 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:-1.09 [[ 0.99989519 -0.01237336 -0.00751777 3.65129399] [ 0.01241912 0.99990445 0.00607015 0.02685841] [ 0.00744194 -0.00616288 0.99995332 -1.09142357] [ 0. 0. 0. 1. ]] SLAMing on 84.42719347 meters Centerline goodness [0,1] 0.8425500031219431 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:-1.09 [[ 0.99989911 -0.01142068 -0.0084457 3.6545469 ] [ 0.01147636 0.99991253 0.0065743 0.02895339] [ 0.00836988 -0.00667056 0.99994272 -1.09319569] [ 0. 0. 0. 1. ]] SLAMing on 84.45719347 meters Centerline goodness [0,1] 0.8335005853821709 Centerline is valid? [False, False] Translation: X:3.66, Y:0.03, Z:-1.09 [[ 0.99990078 -0.01106127 -0.00872238 3.65560222] [ 0.01111607 0.99991862 0.00625959 0.03172493] [ 0.00865243 -0.00635593 0.99994237 -1.09370472] [ 0. 0. 0. 1. ]] SLAMing on 84.48719347 meters Centerline goodness [0,1] 0.8353672576559982 Centerline is valid? [False, False] Translation: X:3.66, Y:0.03, Z:-1.09 [[ 0.99990053 -0.01084231 -0.0090211 3.65670092] [ 0.01089558 0.99992337 0.00587707 0.03417456] [ 0.00895669 -0.00597478 0.99994204 -1.09426916] [ 0. 0. 0. 1. ]] SLAMing on 84.51719347 meters Centerline goodness [0,1] 0.8804855471872765 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-1.10 [[ 0.99990201 -0.01042239 -0.00934588 3.6584735 ] [ 0.01047255 0.99993093 0.00533408 0.0376466 ] [ 0.00928964 -0.00543143 0.9999421 -1.09564181] [ 0. 0. 0. 1. ]] SLAMing on 84.54719347 meters Centerline goodness [0,1] 0.8647736090430551 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-1.10 [[ 0.99989944 -0.01019183 -0.00986112 3.65986205] [ 0.01024246 0.99993455 0.00509755 0.03904535] [ 0.00980852 -0.00519804 0.99993838 -1.09607839] [ 0. 0. 0. 1. ]] SLAMing on 84.57719347 meters Centerline goodness [0,1] 0.8645868323815922 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-1.10 [[ 0.99989781 -0.01015525 -0.01006163 3.66027192] [ 0.01020104 0.9999378 0.00451029 0.04123484] [ 0.0100152 -0.00461247 0.99993921 -1.09590373] [ 0. 0. 0. 1. ]] SLAMing on 84.60719347 meters Centerline goodness [0,1] 0.8862650602409639 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-1.10 [[ 0.99991543 -0.00729256 -0.01076843 3.66130143] [ 0.00736431 0.99995085 0.00663801 0.04685804] [ 0.0107195 -0.00671675 0.99991999 -1.09555735] [ 0. 0. 0. 1. ]] SLAMing on 84.63719347 meters Centerline goodness [0,1] 0.8673807327911461 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-1.10 [[ 0.99991061 -0.00744827 -0.01110377 3.66197024] [ 0.00751299 0.99995496 0.00579861 0.05029355] [ 0.01106008 -0.00588151 0.99992154 -1.09540332] [ 0. 0. 0. 1. ]] SLAMing on 84.66719347 meters Centerline goodness [0,1] 0.8678504282431585 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-1.10 [[ 0.9999052 -0.00744496 -0.01158291 3.66351957] [ 0.00750662 0.99995784 0.00528892 0.05255467] [ 0.01154305 -0.00537537 0.99991893 -1.0961255 ] [ 0. 0. 0. 1. ]] SLAMing on 84.69719347 meters Centerline goodness [0,1] 0.8828649745768031 Centerline is valid? [False, False] Translation: X:3.66, Y:0.06, Z:-1.10 [[ 0.99990642 -0.00725205 -0.01160026 3.66387949] [ 0.00730371 0.99996357 0.00441693 0.05549233] [ 0.01156781 -0.00450124 0.99992296 -1.09616078] [ 0. 0. 0. 1. ]] SLAMing on 84.72719347 meters Centerline goodness [0,1] 0.8819501162279324 Centerline is valid? [False, False] Translation: X:3.66, Y:0.06, Z:-1.10 [[ 0.99990432 -0.00738583 -0.01169652 3.66376113] [ 0.00743126 0.99996499 0.00384564 0.05726766] [ 0.01166771 -0.00393219 0.9999242 -1.09558745] [ 0. 0. 0. 1. ]] SLAMing on 84.75719347 meters Centerline goodness [0,1] 0.8836387954274728 Centerline is valid? [False, False] Translation: X:3.66, Y:0.06, Z:-1.09 [[ 9.99899141e-01 -7.64217554e-03 -1.19709874e-02 3.66393009e+00] [ 7.68159554e-03 9.99965213e-01 3.25044960e-03 5.92650323e-02] [ 1.19457305e-02 -3.34207805e-03 9.99923062e-01 -1.09495162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78719347 meters Centerline goodness [0,1] 0.8836387954274728 Centerline is valid? [False, False] Translation: X:3.66, Y:0.06, Z:-1.09 [[ 9.99899141e-01 -7.64217554e-03 -1.19709874e-02 3.66393009e+00] [ 7.68159554e-03 9.99965213e-01 3.25044960e-03 5.92650323e-02] [ 1.19457305e-02 -3.34207805e-03 9.99923062e-01 -1.09495162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81719347 meters Centerline goodness [0,1] 0.8766640810079875 Centerline is valid? [False, False] Translation: X:3.66, Y:0.06, Z:-1.09 [[ 0.99991069 -0.00580884 -0.01203636 3.661927 ] [ 0.00587204 0.99996912 0.00522231 0.06153524] [ 0.01200566 -0.00529252 0.99991392 -1.09248983] [ 0. 0. 0. 1. ]] SLAMing on 84.84719347000001 meters Centerline goodness [0,1] 0.8729351171408831 Centerline is valid? [False, False] Translation: X:3.66, Y:0.06, Z:-1.09 [[ 0.9999063 -0.00591593 -0.01234443 3.66268565] [ 0.00597891 0.99996927 0.00507118 0.06211318] [ 0.01231405 -0.00514451 0.99991095 -1.09261868] [ 0. 0. 0. 1. ]] SLAMing on 84.87719347 meters Centerline goodness [0,1] 0.8783599471221437 Centerline is valid? [False, False] Translation: X:3.66, Y:0.06, Z:-1.09 [[ 0.99990218 -0.00594277 -0.01266135 3.66425378] [ 0.00601081 0.99996767 0.00534204 0.06106482] [ 0.0126292 -0.00541762 0.99990557 -1.09402814] [ 0. 0. 0. 1. ]] SLAMing on 84.90719347 meters Centerline goodness [0,1] 0.871871934548035 Centerline is valid? [False, False] Translation: X:3.67, Y:0.06, Z:-1.09 [[ 0.9998992 -0.00597794 -0.01287853 3.66521654] [ 0.00604684 0.99996758 0.00531807 0.06095911] [ 0.01284632 -0.00539541 0.99990293 -1.09471412] [ 0. 0. 0. 1. ]] SLAMing on 84.93719347 meters Centerline goodness [0,1] 0.8729714958378878 Centerline is valid? [False, False] Translation: X:3.67, Y:0.06, Z:-1.09 [[ 0.99989757 -0.00611801 -0.012939 3.66518371] [ 0.00618221 0.99996875 0.00492741 0.06180154] [ 0.01290845 -0.0050069 0.99990415 -1.09439454] [ 0. 0. 0. 1. ]] SLAMing on 84.96719347 meters Centerline goodness [0,1] 0.8819647323398978 Centerline is valid? [False, False] Translation: X:3.67, Y:0.06, Z:-1.09 [[ 0.99989662 -0.0061526 -0.01299609 3.66501073] [ 0.00621232 0.99997031 0.00456023 0.062928 ] [ 0.01296765 -0.00464049 0.99990515 -1.0937986 ] [ 0. 0. 0. 1. ]] SLAMing on 84.99719347 meters Centerline goodness [0,1] 0.8760223126284444 Centerline is valid? [False, False] Translation: X:3.67, Y:0.06, Z:-1.09 [[ 0.99989651 -0.00546773 -0.01330678 3.66594204] [ 0.00552595 0.9999753 0.00434277 0.06499948] [ 0.01328271 -0.00441585 0.99990203 -1.09372726] [ 0. 0. 0. 1. ]] SLAMing on 85.02719347 meters Centerline goodness [0,1] 0.8940625459433348 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-1.09 [[ 0.9998963 -0.00529585 -0.01339226 3.66626951] [ 0.00535275 0.99997678 0.00421657 0.06580803] [ 0.01336962 -0.00428782 0.99990143 -1.09381668] [ 0. 0. 0. 1. ]] SLAMing on 85.05719347 meters Centerline goodness [0,1] 0.8755112261080044 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-1.10 [[ 9.99879666e-01 -7.02206628e-03 -1.38326940e-02 3.66870524e+00] [ 7.05361692e-03 9.99972629e-01 2.23340803e-03 6.67779469e-02] [ 1.38166323e-02 -2.33070980e-03 9.99901829e-01 -1.09543050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08719347 meters Centerline goodness [0,1] 0.884321624910823 Centerline is valid? [False, False] Translation: X:3.67, Y:0.07, Z:-1.10 [[ 9.99877665e-01 -7.39354987e-03 -1.37836868e-02 3.66841843e+00] [ 7.42268904e-03 9.99970321e-01 2.06407385e-03 6.63681021e-02] [ 1.37680169e-02 -2.16613336e-03 9.99902870e-01 -1.09521516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11719347 meters Centerline goodness [0,1] 0.8486920270974466 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-1.10 [[ 0.99989979 -0.01222794 -0.00713384 3.67757201] [ 0.01228133 0.99989654 0.00748901 0.06590044] [ 0.00704153 -0.00757587 0.99994651 -1.09766108] [ 0. 0. 0. 1. ]] SLAMing on 85.14719347 meters Centerline goodness [0,1] 0.8739650799639481 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-1.10 [[ 0.99989409 -0.01274186 -0.00703239 3.67692153] [ 0.01279071 0.99989407 0.00694641 0.06669749] [ 0.00694313 -0.00703563 0.99995115 -1.09695114] [ 0. 0. 0. 1. ]] SLAMing on 85.17719347 meters Centerline goodness [0,1] 0.868437022621215 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-1.10 [[ 0.99989131 -0.01281483 -0.00729012 3.67759669] [ 0.0128646 0.99989398 0.00682156 0.06719854] [ 0.00720193 -0.00691461 0.99995016 -1.0971543 ] [ 0. 0. 0. 1. ]] SLAMing on 85.20719347 meters Centerline goodness [0,1] 0.8834915084915085 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-1.10 [[ 0.99989257 -0.0127124 -0.00729678 3.67805985] [ 0.01276124 0.99989622 0.00668612 0.06718667] [ 0.00721103 -0.00677852 0.99995103 -1.09746274] [ 0. 0. 0. 1. ]] SLAMing on 85.23719347 meters Centerline goodness [0,1] 0.8744613975562541 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-1.10 [[ 0.99989427 -0.01258681 -0.00728144 3.67802837] [ 0.01263352 0.99989968 0.00640514 0.06808771] [ 0.00720009 -0.00649645 0.99995298 -1.09721233] [ 0. 0. 0. 1. ]] SLAMing on 85.26719347 meters Centerline goodness [0,1] 0.8887356898136543 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-1.10 [[ 0.99992908 -0.00945175 -0.0072463 3.67726846] [ 0.00952032 0.99990966 0.00948848 0.069049 ] [ 0.00715597 -0.00955679 0.99992873 -1.0964837 ] [ 0. 0. 0. 1. ]] SLAMing on 85.29719347 meters Centerline goodness [0,1] 0.8895583172390629 Centerline is valid? [False, False] Translation: X:3.68, Y:0.07, Z:-1.10 [[ 0.99993064 -0.00916468 -0.00739782 3.67759736] [ 0.00923131 0.99991667 0.00902432 0.07224987] [ 0.0073145 -0.00909199 0.99993191 -1.09620128] [ 0. 0. 0. 1. ]] SLAMing on 85.32719347 meters Centerline goodness [0,1] 0.8904710205445131 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-1.10 [[ 0.99995611 -0.00498724 -0.00793172 3.67901564] [ 0.00508586 0.99990941 0.0124618 0.0754325 ] [ 0.00786886 -0.01250159 0.99989089 -1.09663514] [ 0. 0. 0. 1. ]] SLAMing on 85.35719347 meters Centerline goodness [0,1] 0.8925131898500963 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-1.10 [[ 0.9999562 -0.00469936 -0.00809435 3.67997174] [ 0.004798 0.99991394 0.0122105 0.07640762] [ 0.00803627 -0.0122488 0.99989269 -1.09733351] [ 0. 0. 0. 1. ]] SLAMing on 85.38719347 meters Centerline goodness [0,1] 0.8963354725421745 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-1.10 [[ 0.99995577 -0.00434202 -0.00834256 3.6812598 ] [ 0.00444384 0.99991538 0.0122262 0.07692988] [ 0.00828876 -0.01226273 0.99989045 -1.09830426] [ 0. 0. 0. 1. ]] SLAMing on 85.41719347 meters Centerline goodness [0,1] 0.8982093750656003 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-1.10 [[ 9.99958322e-01 -2.88859653e-03 -8.66082403e-03 3.68336935e+00] [ 2.99948417e-03 9.99913349e-01 1.28178250e-02 7.99278688e-02] [ 8.62304804e-03 -1.28432688e-02 9.99880340e-01 -1.09982881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44719347 meters Centerline goodness [0,1] 0.8941815588556087 Centerline is valid? [False, False] Translation: X:3.68, Y:0.08, Z:-1.10 [[ 9.99955838e-01 -2.36257837e-03 -9.09617592e-03 3.68483621e+00] [ 2.47830793e-03 9.99915865e-01 1.27327007e-02 8.19703426e-02] [ 9.06532860e-03 -1.27546815e-02 9.99877561e-01 -1.10044845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47719347 meters Centerline goodness [0,1] 0.8945952761200302 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-1.10 [[ 9.99953622e-01 -1.69094305e-03 -9.48127473e-03 3.68635850e+00] [ 1.81265373e-03 9.99915881e-01 1.28430888e-02 8.29885691e-02] [ 9.45876024e-03 -1.28596794e-02 9.99872572e-01 -1.10124552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50719347 meters Centerline goodness [0,1] 0.8994834537208131 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-1.10 [[ 9.99952737e-01 2.97365982e-03 -9.25637731e-03 3.68629678e+00] [-2.81543757e-03 9.99850509e-01 1.70596745e-02 8.21297793e-02] [ 9.30572324e-03 -1.70328074e-02 9.99811626e-01 -1.10135685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53719347 meters Centerline goodness [0,1] 0.9012194106875312 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-1.10 [[ 9.99933609e-01 3.37997082e-03 -1.10160479e-02 3.69235729e+00] [-3.25427033e-03 9.99929623e-01 1.14086903e-02 8.37562993e-02] [ 1.10538336e-02 -1.13720837e-02 9.99874236e-01 -1.09740422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56719347 meters Centerline goodness [0,1] 0.9044577932342712 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-1.10 [[ 9.99933105e-01 3.80551159e-03 -1.09226422e-02 3.69177991e+00] [-3.68081338e-03 9.99928084e-01 1.14139749e-02 8.38929915e-02] [ 1.09652927e-02 -1.13730072e-02 9.99875201e-01 -1.09646473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59719347000001 meters Centerline goodness [0,1] 0.8998705852884695 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-1.10 [[ 0.99992343 0.00578167 -0.01094116 3.69184679] [-0.00564151 0.99990218 0.01279852 0.08234287] [ 0.01101408 -0.01273582 0.99985823 -1.09538266] [ 0. 0. 0. 1. ]] SLAMing on 85.62719347 meters Centerline goodness [0,1] 0.8972687187846112 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-1.10 [[ 9.99933923e-01 2.91446216e-03 -1.11200361e-02 3.69250296e+00] [-2.80815980e-03 9.99950328e-01 9.56320186e-03 8.12564911e-02] [ 1.11473554e-02 -9.53134311e-03 9.99892439e-01 -1.09523145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65719347 meters Centerline goodness [0,1] 0.9002723300048555 Centerline is valid? [False, False] Translation: X:3.69, Y:0.08, Z:-1.10 [[ 9.99937084e-01 5.51017286e-05 -1.12172126e-02 3.69321934e+00] [ 2.26574700e-05 9.99975974e-01 6.93188692e-03 7.79386549e-02] [ 1.12173250e-02 -6.93170495e-03 9.99913058e-01 -1.09559744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68719347 meters Centerline goodness [0,1] 0.9004601547793348 Centerline is valid? [False, False] Translation: X:3.70, Y:0.07, Z:-1.10 [[ 9.99928805e-01 -2.50280233e-03 -1.16670510e-02 3.69513571e+00] [ 2.56030193e-03 9.99984639e-01 4.91604648e-03 7.34254176e-02] [ 1.16545679e-02 -4.94556766e-03 9.99919853e-01 -1.09665481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71719347 meters Centerline goodness [0,1] 0.9014114133064092 Centerline is valid? [False, False] Translation: X:3.69, Y:0.06, Z:-1.10 [[ 0.99992135 -0.0049086 -0.01154084 3.69410005] [ 0.00495738 0.99997888 0.00420221 0.06348579] [ 0.01151997 -0.00425909 0.99992457 -1.09549352] [ 0. 0. 0. 1. ]] SLAMing on 85.74719347 meters Centerline goodness [0,1] 0.9067435762978501 Centerline is valid? [False, False] Translation: X:3.69, Y:0.06, Z:-1.10 [[ 9.99899013e-01 -7.85261081e-03 -1.18448338e-02 3.69474287e+00] [ 7.87618027e-03 9.99967092e-01 1.94451763e-03 5.96063690e-02] [ 1.18291745e-02 -2.03761330e-03 9.99927957e-01 -1.09524163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77719347 meters Centerline goodness [0,1] 0.9045730235681756 Centerline is valid? [False, False] Translation: X:3.69, Y:0.05, Z:-1.09 [[ 9.99898869e-01 -8.25399466e-03 -1.15812031e-02 3.69390583e+00] [ 8.28616918e-03 9.99961934e-01 2.73293927e-03 5.25850890e-02] [ 1.15582046e-02 -2.82862669e-03 9.99929201e-01 -1.09456220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80719347 meters Centerline goodness [0,1] 0.9000188170356896 Centerline is valid? [False, False] Translation: X:3.70, Y:0.04, Z:-1.10 [[ 9.99832636e-01 -1.20407970e-02 -1.37738561e-02 3.69982742e+00] [ 1.20444713e-02 9.99927446e-01 1.83830773e-04 3.75501686e-02] [ 1.37706433e-02 -3.49698820e-04 9.99905119e-01 -1.09574186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83719347 meters Centerline goodness [0,1] 0.9038053858908969 Centerline is valid? [False, False] Translation: X:3.70, Y:0.03, Z:-1.10 [[ 9.99792468e-01 -1.46773908e-02 -1.41278381e-02 3.70148880e+00] [ 1.46616043e-02 9.99891768e-01 -1.22033373e-03 3.11616029e-02] [ 1.41442203e-02 1.01294369e-03 9.99899452e-01 -1.09689508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86719347 meters Centerline goodness [0,1] 0.905173501577287 Centerline is valid? [False, False] Translation: X:3.70, Y:0.02, Z:-1.10 [[ 9.99793331e-01 -1.43539399e-02 -1.43964975e-02 3.70233872e+00] [ 1.43686079e-02 9.99896347e-01 9.15932206e-04 2.39270833e-02] [ 1.43818580e-02 -1.12260054e-03 9.99895946e-01 -1.09757031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89719347 meters Centerline goodness [0,1] 0.9064492967859104 Centerline is valid? [False, False] Translation: X:3.70, Y:0.01, Z:-1.10 [[ 9.99752974e-01 -1.66813534e-02 -1.46874942e-02 3.70350375e+00] [ 1.67224976e-02 9.99856570e-01 2.68295500e-03 1.13378133e-02] [ 1.46406322e-02 -2.92790383e-03 9.99888533e-01 -1.10009832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92719347 meters Centerline goodness [0,1] 0.9071383449147189 Centerline is valid? [False, False] Translation: X:3.71, Y:0.01, Z:-1.10 [[ 9.99703955e-01 -1.91100427e-02 -1.50601600e-02 3.70563360e+00] [ 1.91326665e-02 9.99816029e-01 1.35956565e-03 5.29748306e-03] [ 1.50314080e-02 -1.64730417e-03 9.99885665e-01 -1.10168207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95719347 meters Centerline goodness [0,1] 0.9053817060029159 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.00, Z:-1.10 [[ 9.99641384e-01 -2.20344472e-02 -1.52179483e-02 3.70667458e+00] [ 2.20305929e-02 9.99757208e-01 -4.20886349e-04 -7.55829610e-04] [ 1.52235275e-02 8.54749887e-05 9.99884112e-01 -1.10239174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98719347 meters Centerline goodness [0,1] 0.9041254961574191 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.01, Z:-1.10 [[ 9.99475322e-01 -2.81109684e-02 -1.60889567e-02 3.70937561e+00] [ 2.80502558e-02 9.99598563e-01 -3.98690715e-03 -1.22646921e-02] [ 1.61945738e-02 3.53351596e-03 9.99862616e-01 -1.10370907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01719347 meters Centerline goodness [0,1] 0.8993550826628574 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.02, Z:-1.10 [[ 0.99937164 -0.03148707 -0.01627573 3.71011425] [ 0.03138787 0.99948733 -0.00631465 -0.01669695] [ 0.01646622 0.00579982 0.9998476 -1.10371986] [ 0. 0. 0. 1. ]] SLAMing on 86.04719347 meters Centerline goodness [0,1] 0.8907571867502841 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.02, Z:-1.10 [[ 0.99925232 -0.03498755 -0.01645242 3.71066359] [ 0.03484528 0.99935348 -0.00885634 -0.02057096] [ 0.01675165 0.00827643 0.99982543 -1.10357569] [ 0. 0. 0. 1. ]] SLAMing on 86.07719347 meters Centerline goodness [0,1] 0.8809006309481103 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.02, Z:-1.10 [[ 0.99911776 -0.0386054 -0.01653239 3.71105668] [ 0.03841626 0.99919438 -0.01160937 -0.02409294] [ 0.01696725 0.01096401 0.99979593 -1.10338655] [ 0. 0. 0. 1. ]] SLAMing on 86.10719347 meters Centerline goodness [0,1] 0.8622601100239365 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:-1.11 [[ 0.99889419 -0.04576939 -0.01075026 3.72108979] [ 0.04569289 0.99892918 -0.00725693 -0.03333013] [ 0.01107089 0.00675769 0.99991588 -1.10526593] [ 0. 0. 0. 1. ]] SLAMing on 86.13719347 meters Centerline goodness [0,1] 0.8377727015529057 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:-1.10 [[ 0.99876727 -0.04851871 -0.01048179 3.71960859] [ 0.04842122 0.99878312 -0.00936309 -0.03691604] [ 0.01092332 0.00884401 0.99990123 -1.10347086] [ 0. 0. 0. 1. ]] SLAMing on 86.16719347 meters Centerline goodness [0,1] 0.8500893326326853 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:-1.10 [[ 0.9987485 -0.04890327 -0.01048345 3.71906436] [ 0.04881263 0.99876976 -0.00873502 -0.04007769] [ 0.01089773 0.00821236 0.99990689 -1.10258456] [ 0. 0. 0. 1. ]] SLAMing on 86.19719347 meters Centerline goodness [0,1] 0.8414132078642245 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:-1.10 [[ 0.99873293 -0.04919001 -0.01062422 3.71911504] [ 0.04910265 0.99875898 -0.00833249 -0.04189424] [ 0.01102091 0.00780026 0.99990884 -1.10215524] [ 0. 0. 0. 1. ]] SLAMing on 86.22719347 meters Centerline goodness [0,1] 0.8130951129795061 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:-1.10 [[ 0.9987082 -0.04963466 -0.01087845 3.71963483] [ 0.04955167 0.99874134 -0.00776949 -0.04446943] [ 0.01125039 0.00722041 0.99991064 -1.10216965] [ 0. 0. 0. 1. ]] SLAMing on 86.25719347 meters Centerline goodness [0,1] 0.8185727838094234 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-1.10 [[ 0.99870993 -0.04956607 -0.01103112 3.72041193] [ 0.04948723 0.99874801 -0.00730875 -0.04613807] [ 0.01137957 0.00675342 0.99991244 -1.10279014] [ 0. 0. 0. 1. ]] SLAMing on 86.28719347 meters Centerline goodness [0,1] 0.8181531408382579 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-1.10 [[ 0.99871494 -0.04941931 -0.01123378 3.72139021] [ 0.0493442 0.99875822 -0.00686762 -0.04748621] [ 0.01155923 0.00630447 0.99991332 -1.10351603] [ 0. 0. 0. 1. ]] SLAMing on 86.31719347 meters Centerline goodness [0,1] 0.8358974358974359 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-1.10 [[ 9.98868708e-01 -4.62552508e-02 -1.10343184e-02 3.72125358e+00] [ 4.62260537e-02 9.98926834e-01 -2.88669354e-03 -4.95624073e-02] [ 1.11560014e-02 2.37335485e-03 9.99934953e-01 -1.10407795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34719347000001 meters Centerline goodness [0,1] 0.8334383665238215 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-1.10 [[ 9.99027846e-01 -4.26586067e-02 -1.11178560e-02 3.72114523e+00] [ 4.26752505e-02 9.99088197e-01 1.26400839e-03 -5.04357966e-02] [ 1.10537978e-02 -1.73723687e-03 9.99937396e-01 -1.10409458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37719347 meters Centerline goodness [0,1] 0.8342449167049393 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-1.10 [[ 9.99034754e-01 -4.24606153e-02 -1.12541960e-02 3.72140599e+00] [ 4.24764685e-02 9.99096779e-01 1.17327507e-03 -4.88683242e-02] [ 1.11942130e-02 -1.65018107e-03 9.99935981e-01 -1.10379237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40719347 meters Centerline goodness [0,1] 0.8493560257589696 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-1.10 [[ 0.99919075 -0.03866643 -0.01107982 3.72073353] [ 0.03871955 0.99923943 0.00462042 -0.04696591] [ 0.01089274 -0.00504569 0.99992794 -1.10341827] [ 0. 0. 0. 1. ]] SLAMing on 86.43719347 meters Centerline goodness [0,1] 0.8483436201032876 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.05, Z:-1.10 [[ 0.99931133 -0.03535144 -0.01127579 3.72221254] [ 0.03544068 0.99934123 0.00781474 -0.04607078] [ 0.0109921 -0.00820898 0.99990589 -1.10493624] [ 0. 0. 0. 1. ]] SLAMing on 86.46719347 meters Centerline goodness [0,1] 0.8568812745985309 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.04, Z:-1.11 [[ 0.99940219 -0.03261615 -0.0114649 3.72441592] [ 0.03273164 0.99941381 0.01003398 -0.04376852] [ 0.01113091 -0.01040325 0.99988393 -1.10729245] [ 0. 0. 0. 1. ]] SLAMing on 86.49719347 meters Centerline goodness [0,1] 0.8765756855152675 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.04, Z:-1.11 [[ 0.9995215 -0.02863915 -0.01168616 3.72552712] [ 0.02879526 0.99949529 0.01341633 -0.04144159] [ 0.01129603 -0.01374641 0.99984171 -1.10836342] [ 0. 0. 0. 1. ]] SLAMing on 86.52719347 meters Centerline goodness [0,1] 0.900069221571959 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.03, Z:-1.11 [[ 0.99981169 -0.01833059 -0.00636925 3.72487892] [ 0.01837093 0.99981118 0.00633344 -0.03433877] [ 0.00625195 -0.00644925 0.99995966 -1.10888427] [ 0. 0. 0. 1. ]] SLAMing on 86.55719347 meters Centerline goodness [0,1] 0.9097870203774217 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.03, Z:-1.11 [[ 0.99983538 -0.01684744 -0.00673636 3.72689561] [ 0.01689311 0.99983431 0.00678025 -0.03058629] [ 0.00662102 -0.00689293 0.99995432 -1.11027261] [ 0. 0. 0. 1. ]] SLAMing on 86.58719347 meters Centerline goodness [0,1] 0.9283567761592721 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.03, Z:-1.11 [[ 0.99987127 -0.01444474 -0.00698495 3.7289721 ] [ 0.01450304 0.9998598 0.00836909 -0.02689779] [ 0.00686308 -0.00846931 0.99994058 -1.1121079 ] [ 0. 0. 0. 1. ]] SLAMing on 86.61719347 meters Centerline goodness [0,1] 0.9287266496719462 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:-1.11 [[ 0.99988974 -0.01291814 -0.00732305 3.7311478 ] [ 0.0129834 0.99987579 0.00893537 -0.02307941] [ 0.00720671 -0.00902946 0.99993326 -1.11381312] [ 0. 0. 0. 1. ]] SLAMing on 86.64719347 meters Centerline goodness [0,1] 0.9274580840845901 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:-1.12 [[ 0.99990588 -0.01135932 -0.0076944 3.7340036 ] [ 0.0114308 0.99989132 0.00931066 -0.01892719] [ 0.0075878 -0.00939774 0.99992705 -1.1163845 ] [ 0. 0. 0. 1. ]] SLAMing on 86.67719347 meters Centerline goodness [0,1] 0.9274580840845901 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.02, Z:-1.12 [[ 0.99990588 -0.01135932 -0.0076944 3.7340036 ] [ 0.0114308 0.99989132 0.00931066 -0.01892719] [ 0.0075878 -0.00939774 0.99992705 -1.1163845 ] [ 0. 0. 0. 1. ]] SLAMing on 86.70719347 meters Centerline goodness [0,1] 0.9251258695970084 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.02, Z:-1.12 [[ 0.99988212 -0.01278084 -0.00850896 3.73800644] [ 0.0128459 0.99988833 0.00763625 -0.01829316] [ 0.00841041 -0.00774466 0.99993464 -1.11926558] [ 0. 0. 0. 1. ]] SLAMing on 86.73719347 meters Centerline goodness [0,1] 0.9216520914550627 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.02, Z:-1.12 [[ 0.99987508 -0.01315618 -0.00875967 3.73888067] [ 0.01322275 0.9998838 0.0075857 -0.01914828] [ 0.00865885 -0.00770058 0.99993286 -1.11987815] [ 0. 0. 0. 1. ]] SLAMing on 86.76719347 meters Centerline goodness [0,1] 0.9123738380510733 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.02, Z:-1.12 [[ 0.99979973 -0.01784485 -0.00905867 3.7396945 ] [ 0.01788033 0.99983272 0.00385079 -0.020362 ] [ 0.00898844 -0.00401199 0.99995155 -1.11998125] [ 0. 0. 0. 1. ]] SLAMing on 86.79719347 meters Centerline goodness [0,1] 0.9006648908278625 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.02, Z:-1.12 [[ 0.99978684 -0.01838168 -0.00940203 3.74058419] [ 0.01842354 0.99982066 0.0043848 -0.02313758] [ 0.00931974 -0.00455708 0.99994619 -1.12036176] [ 0. 0. 0. 1. ]] SLAMing on 86.82719347 meters Centerline goodness [0,1] 0.8923456480378014 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 9.99720374e-01 -2.14734376e-02 -9.90283511e-03 3.74297717e+00] [ 2.14915026e-02 9.99767549e-01 1.72141923e-03 -2.52026344e-02] [ 9.86356840e-03 -1.93376468e-03 9.99949484e-01 -1.12188370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85719347 meters Centerline goodness [0,1] 0.8863854466558184 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 9.99718161e-01 -2.15845918e-02 -9.88455870e-03 3.74357510e+00] [ 2.16132963e-02 9.99762467e-01 2.80640128e-03 -3.00884786e-02] [ 9.82163576e-03 -3.01924822e-03 9.99947208e-01 -1.12252036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88719347 meters Centerline goodness [0,1] 0.8712283352217886 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 9.99723113e-01 -2.13767674e-02 -9.83515559e-03 3.74320960e+00] [ 2.14072179e-02 9.99766334e-01 3.00129104e-03 -3.02352214e-02] [ 9.76869955e-03 -3.21100334e-03 9.99947130e-01 -1.12194189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91719347 meters Centerline goodness [0,1] 0.8982130454000126 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 0.99976887 -0.01937006 -0.00932727 3.74098267] [ 0.01941837 0.99979835 0.00511764 -0.03106176] [ 0.00922626 -0.00529758 0.9999434 -1.12020901] [ 0. 0. 0. 1. ]] SLAMing on 86.94719347 meters Centerline goodness [0,1] 0.9003012873185429 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 0.99978857 -0.01867789 -0.00859962 3.73800806] [ 0.01872557 0.99980955 0.00549722 -0.02971788] [ 0.00849531 -0.00565709 0.99994791 -1.11757107] [ 0. 0. 0. 1. ]] SLAMing on 86.97719347 meters Centerline goodness [0,1] 0.8980931935850486 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 0.99979003 -0.01852672 -0.0087551 3.7385167 ] [ 0.01857685 0.9998113 0.00567943 -0.02956946] [ 0.00864823 -0.00584088 0.99994554 -1.11774405] [ 0. 0. 0. 1. ]] SLAMing on 87.00719347 meters Centerline goodness [0,1] 0.9099695984904078 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 0.99978781 -0.01857411 -0.00890714 3.73937916] [ 0.01862684 0.99980925 0.00587416 -0.03033165] [ 0.00879634 -0.00603883 0.99994308 -1.11847441] [ 0. 0. 0. 1. ]] SLAMing on 87.03719347 meters Centerline goodness [0,1] 0.8970164024171983 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 9.99717197e-01 -2.20611256e-02 -8.87877702e-03 3.74095534e+00] [ 2.20842508e-02 9.99752950e-01 2.51497492e-03 -3.09607978e-02] [ 8.82110034e-03 -2.71034481e-03 9.99957420e-01 -1.12022735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06719347 meters Centerline goodness [0,1] 0.8731142580997605 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 9.99712160e-01 -2.22833332e-02 -8.89100424e-03 3.74142900e+00] [ 2.23072468e-02 9.99747783e-01 2.59958631e-03 -3.14798838e-02] [ 8.83083433e-03 -2.79717187e-03 9.99957095e-01 -1.12072042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09719347000001 meters Centerline goodness [0,1] 0.8795074941990509 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 9.99707651e-01 -2.24298882e-02 -9.02847054e-03 3.74190968e+00] [ 2.24539808e-02 9.99744559e-01 2.57603165e-03 -3.12240883e-02] [ 8.96838420e-03 -2.77800365e-03 9.99955924e-01 -1.12086367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12719347 meters Centerline goodness [0,1] 0.8996415019182792 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 9.99703018e-01 -2.26168593e-02 -9.07491959e-03 3.74190453e+00] [ 2.26395089e-02 9.99740811e-01 2.40091701e-03 -3.04634750e-02] [ 9.01826626e-03 -2.60565570e-03 9.99955940e-01 -1.12063734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15719347 meters Centerline goodness [0,1] 0.89980423937525 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.03, Z:-1.12 [[ 0.99976696 -0.01956985 -0.00911298 3.74274067] [ 0.01961974 0.99979284 0.00541747 -0.02886492] [ 0.00900508 -0.005595 0.9999438 -1.1217845 ] [ 0. 0. 0. 1. ]] SLAMing on 87.18719347 meters Centerline goodness [0,1] 0.9048359639351842 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.03, Z:-1.12 [[ 0.99978303 -0.01828589 -0.00997602 3.74550865] [ 0.01834614 0.9998138 0.0059821 -0.0258239 ] [ 0.00986478 -0.00616382 0.99993234 -1.12313945] [ 0. 0. 0. 1. ]] SLAMing on 87.21719347 meters Centerline goodness [0,1] 0.9187460551230802 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.02, Z:-1.12 [[ 9.99959759e-01 -6.17346227e-03 -6.50920117e-03 3.74287140e+00] [ 6.17546616e-03 9.99980890e-01 2.87801206e-04 -2.12616417e-02] [ 6.50730005e-03 -3.27986976e-04 9.99978774e-01 -1.12275572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24719347 meters Centerline goodness [0,1] 0.922103722291928 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.02, Z:-1.12 [[ 9.99965771e-01 -4.22080224e-03 -7.11628381e-03 3.74533922e+00] [ 4.22904150e-03 9.99990404e-01 1.14315316e-03 -1.90643214e-02] [ 7.11139050e-03 -1.17320909e-03 9.99974026e-01 -1.12396723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27719347 meters Centerline goodness [0,1] 0.92631645013494 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.02, Z:-1.12 [[ 9.99973391e-01 -1.44227107e-05 -7.29497145e-03 3.74591401e+00] [ 4.98176641e-05 9.99988229e-01 4.85180756e-03 -1.79974219e-02] [ 7.29481560e-03 -4.85204188e-03 9.99961621e-01 -1.12415709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30719347 meters Centerline goodness [0,1] 0.9268446765498652 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.02, Z:-1.12 [[ 0.9999653 0.00397267 -0.0073219 3.74609186] [-0.00391123 0.99995719 0.00838598 -0.01637551] [ 0.0073549 -0.00835705 0.99993803 -1.12418021] [ 0. 0. 0. 1. ]] SLAMing on 87.33719347 meters Centerline goodness [0,1] 0.9224851946300239 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.01, Z:-1.13 [[ 0.99992119 0.00978076 -0.00787118 3.74868326] [-0.00967655 0.99986644 0.01317096 -0.01342597] [ 0.00799895 -0.01309375 0.99988228 -1.12579511] [ 0. 0. 0. 1. ]] SLAMing on 87.36719347 meters Centerline goodness [0,1] 0.9213506799713697 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.01, Z:-1.13 [[ 0.99991005 0.0105348 -0.00830107 3.75073181] [-0.01041994 0.99985102 0.01376076 -0.01390993] [ 0.0084448 -0.01367302 0.99987086 -1.12735676] [ 0. 0. 0. 1. ]] SLAMing on 87.39719347 meters Centerline goodness [0,1] 0.9196954400134613 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.01, Z:-1.13 [[ 0.99992705 0.00813321 -0.00893047 3.75347211] [-0.00803481 0.99990722 0.01099969 -0.014572 ] [ 0.0090191 -0.01092713 0.99989962 -1.12924212] [ 0. 0. 0. 1. ]] SLAMing on 87.42719347 meters Centerline goodness [0,1] 0.9184030706934369 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.02, Z:-1.13 [[ 0.9999458 0.00488357 -0.0091951 3.75438834] [-0.00481429 0.99995997 0.00754203 -0.01539647] [ 0.00923156 -0.00749736 0.99992928 -1.12964766] [ 0. 0. 0. 1. ]] SLAMing on 87.45719347 meters Centerline goodness [0,1] 0.9184943061999157 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.02, Z:-1.13 [[ 9.99955215e-01 1.95633329e-03 -9.25964037e-03 3.75454970e+00] [-1.91074914e-03 9.99986026e-01 4.92917440e-03 -1.85516423e-02] [ 9.26915409e-03 -4.91126080e-03 9.99944980e-01 -1.12929083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48719347 meters Centerline goodness [0,1] 0.916673687758025 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-1.13 [[ 9.99954924e-01 -7.30943750e-04 -9.46654396e-03 3.75522144e+00] [ 7.52262325e-04 9.99997189e-01 2.24862645e-03 -2.02010669e-02] [ 9.46487372e-03 -2.25564642e-03 9.99952663e-01 -1.12929972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51719347 meters Centerline goodness [0,1] 0.9160252219574432 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-1.13 [[ 9.99952896e-01 -4.85201724e-04 -9.69382806e-03 3.75546304e+00] [ 5.16999745e-04 9.99994494e-01 3.27799710e-03 -2.46685540e-02] [ 9.69218419e-03 -3.28285440e-03 9.99947641e-01 -1.12907039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54719347 meters Centerline goodness [0,1] 0.9183313007275327 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.03, Z:-1.13 [[ 9.99946931e-01 -2.33005853e-03 -1.00352369e-02 3.75706084e+00] [ 2.35891704e-03 9.99993114e-01 2.86484194e-03 -3.46019118e-02] [ 1.00284926e-02 -2.88836220e-03 9.99945542e-01 -1.12996379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57719347 meters Centerline goodness [0,1] 0.9169839099800189 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.04, Z:-1.13 [[ 9.99948864e-01 -3.00724823e-03 -9.65538072e-03 3.75642643e+00] [ 3.03640009e-03 9.99990872e-01 3.00599570e-03 -3.94759512e-02] [ 9.64625281e-03 -3.03515958e-03 9.99948867e-01 -1.12979766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60719347 meters Centerline goodness [0,1] 0.9174797176272258 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.04, Z:-1.13 [[ 9.99947175e-01 -4.01888611e-03 -9.46019948e-03 3.75610107e+00] [ 4.04597285e-03 9.99987766e-01 2.84583642e-03 -4.42114708e-02] [ 9.44864664e-03 -2.88396180e-03 9.99951202e-01 -1.12969791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63719347 meters Centerline goodness [0,1] 0.916486514849407 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.05, Z:-1.13 [[ 9.99927401e-01 -6.82315555e-03 -9.93167036e-03 3.75828935e+00] [ 6.83305503e-03 9.99976191e-01 9.63167527e-04 -4.84019319e-02] [ 9.92486205e-03 -1.03096125e-03 9.99950216e-01 -1.13126743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66719347 meters Centerline goodness [0,1] 0.9151461582170591 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.06, Z:-1.13 [[ 9.99866371e-01 -1.28086473e-02 -1.01577030e-02 3.76007061e+00] [ 1.27745066e-02 9.99912558e-01 -3.41885831e-03 -5.72713894e-02] [ 1.02006058e-02 3.28864180e-03 9.99942565e-01 -1.13272056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69719347 meters Centerline goodness [0,1] 0.9165444104455716 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.06, Z:-1.13 [[ 9.99865932e-01 -1.27674471e-02 -1.02523631e-02 3.76037830e+00] [ 1.27459757e-02 9.99916440e-01 -2.15690213e-03 -6.22066880e-02] [ 1.02790446e-02 2.02593659e-03 9.99945117e-01 -1.13287203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72719347 meters Centerline goodness [0,1] 0.9153377061547812 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.07, Z:-1.13 [[ 9.99869900e-01 -1.24475563e-02 -1.02587717e-02 3.76036525e+00] [ 1.24392800e-02 9.99922251e-01 -8.70169677e-04 -6.61623587e-02] [ 1.02688055e-02 7.42444735e-04 9.99946999e-01 -1.13278490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75719347 meters Centerline goodness [0,1] 0.9123944670189696 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.07, Z:-1.13 [[ 9.99839915e-01 -1.44235659e-02 -1.05879428e-02 3.76184627e+00] [ 1.44010958e-02 9.99893889e-01 -2.19541746e-03 -7.27811126e-02] [ 1.06184851e-02 2.04258803e-03 9.99941536e-01 -1.13362945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78719347 meters Centerline goodness [0,1] 0.9108844252813124 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.08, Z:-1.14 [[ 9.99850477e-01 -1.33462571e-02 -1.09954669e-02 3.76410695e+00] [ 1.33437571e-02 9.99910923e-01 -3.00708887e-04 -7.77061746e-02] [ 1.09985008e-02 1.53943085e-04 9.99939503e-01 -1.13558076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81719347 meters Centerline goodness [0,1] 0.9118155499552205 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.08, Z:-1.14 [[ 9.99818782e-01 -1.50600793e-02 -1.16446433e-02 3.76745020e+00] [ 1.50396954e-02 9.99885212e-01 -1.83609940e-03 -8.04113834e-02] [ 1.16709584e-02 1.66063478e-03 9.99930513e-01 -1.13797664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84719347000001 meters Centerline goodness [0,1] 0.9112735522087088 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.09, Z:-1.14 [[ 9.99776265e-01 -1.74100223e-02 -1.20129289e-02 3.76929336e+00] [ 1.73720212e-02 9.99843779e-01 -3.26048712e-03 -8.55335534e-02] [ 1.20678174e-02 3.05106878e-03 9.99922526e-01 -1.13916377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87719347 meters Centerline goodness [0,1] 0.9095840867992767 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.09, Z:-1.14 [[ 9.99780969e-01 -1.69061185e-02 -1.23368035e-02 3.77019679e+00] [ 1.68847849e-02 9.99855765e-01 -1.83137948e-03 -8.93061030e-02] [ 1.23659856e-02 1.62267408e-03 9.99922222e-01 -1.13956816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90719347 meters Centerline goodness [0,1] 0.9071842555143227 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.10, Z:-1.14 [[ 9.99730447e-01 -1.92641713e-02 -1.29585571e-02 3.77282098e+00] [ 1.92300667e-02 9.99811300e-01 -2.75130631e-03 -9.63103453e-02] [ 1.30091135e-02 2.50137077e-03 9.99912249e-01 -1.14116402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93719347 meters Centerline goodness [0,1] 0.905506713721887 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.10, Z:-1.14 [[ 9.99731045e-01 -1.91715339e-02 -1.30495314e-02 3.77357576e+00] [ 1.91535302e-02 9.99815424e-01 -1.50324168e-03 -1.00680439e-01] [ 1.30759422e-02 1.25289278e-03 9.99913721e-01 -1.14191467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96719347 meters Centerline goodness [0,1] 0.9029948867786706 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.10, Z:-1.14 [[ 9.99727602e-01 -1.92690795e-02 -1.31690472e-02 3.77407470e+00] [ 1.92648188e-02 9.99814315e-01 -4.50322846e-04 -1.04973321e-01] [ 1.31752792e-02 1.96500870e-04 9.99913183e-01 -1.14222778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99719347 meters Centerline goodness [0,1] 0.9018197736226627 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.11, Z:-1.14 [[ 9.99721754e-01 -1.95476552e-02 -1.32024257e-02 3.77430764e+00] [ 1.95548815e-02 9.99808697e-01 4.18471449e-04 -1.09022767e-01] [ 1.31917199e-02 -6.76526882e-04 9.99912757e-01 -1.14236560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02719347 meters Centerline goodness [0,1] 0.898747478143914 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.11, Z:-1.14 [[ 9.99641229e-01 -2.34652534e-02 -1.29149549e-02 3.77381075e+00] [ 2.34390748e-02 9.99722902e-01 -2.17466069e-03 -1.14297042e-01] [ 1.29624051e-02 1.87116589e-03 9.99914234e-01 -1.14202017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05719347 meters Centerline goodness [0,1] 0.8938312701549984 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.12, Z:-1.14 [[ 0.99957172 -0.02601195 -0.01340738 3.77620241] [ 0.02595479 0.99965335 -0.00442018 -0.11603931] [ 0.01351771 0.0040703 0.99990035 -1.14344625] [ 0. 0. 0. 1. ]] SLAMing on 88.08719347 meters Centerline goodness [0,1] 0.8944792973651192 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.12, Z:-1.14 [[ 9.99577837e-01 -2.57857478e-02 -1.33881808e-02 3.77635690e+00] [ 2.57379190e-02 9.99661756e-01 -3.73258749e-03 -1.18149197e-01] [ 1.34798999e-02 3.38642782e-03 9.99903408e-01 -1.14365330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11719347 meters Centerline goodness [0,1] 0.893150513136718 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.12, Z:-1.14 [[ 9.99676037e-01 -2.19519510e-02 -1.28815317e-02 3.77517913e+00] [ 2.19578286e-02 9.99758848e-01 3.15009374e-04 -1.18757815e-01] [ 1.28715102e-02 -5.97757787e-04 9.99916980e-01 -1.14309803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14719347 meters Centerline goodness [0,1] 0.8932190341441085 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.12, Z:-1.14 [[ 9.99697207e-01 -2.07037998e-02 -1.32983646e-02 3.77650186e+00] [ 2.07161679e-02 9.99785083e-01 7.92960016e-04 -1.16590206e-01] [ 1.32790893e-02 -1.06821107e-03 9.99911258e-01 -1.14357701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17719347 meters Centerline goodness [0,1] 0.889956057752668 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.12, Z:-1.14 [[ 0.99977337 -0.01665049 -0.01326515 3.77643322] [ 0.01671049 0.99985058 0.00442543 -0.11537134] [ 0.01318948 -0.00464609 0.99990222 -1.14365662] [ 0. 0. 0. 1. ]] SLAMing on 88.20719347 meters Centerline goodness [0,1] 0.8905248750544369 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.11, Z:-1.15 [[ 9.99885119e-01 -1.12616463e-02 -1.01451102e-02 3.78710737e+00] [ 1.12634581e-02 9.99936558e-01 1.21468923e-04 -1.13097444e-01] [ 1.01430987e-02 -2.35723993e-04 9.99948530e-01 -1.14547645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23719347 meters Centerline goodness [0,1] 0.8912929863070973 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.11, Z:-1.15 [[ 9.99969609e-01 -1.93230599e-03 -7.55299101e-03 3.78267390e+00] [ 1.91793439e-03 9.99996338e-01 -1.90955001e-03 -1.10315030e-01] [ 7.55665318e-03 1.89500584e-03 9.99969653e-01 -1.15245786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26719347 meters Centerline goodness [0,1] 0.8920393263088028 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.11, Z:-1.16 [[ 9.99965778e-01 1.72569382e-03 -8.09108015e-03 3.78659545e+00] [-1.71602833e-03 9.99997806e-01 1.20137647e-03 -1.08720909e-01] [ 8.09313561e-03 -1.18745083e-03 9.99966545e-01 -1.15587143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29719347 meters Centerline goodness [0,1] 0.8932956011486121 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.11, Z:-1.16 [[ 9.99952153e-01 4.88000804e-03 -8.47803702e-03 3.78934134e+00] [-4.84794619e-03 9.99981035e-01 3.79819790e-03 -1.06492826e-01] [ 8.49641147e-03 -3.75691510e-03 9.99956847e-01 -1.15824422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32719347 meters Centerline goodness [0,1] 0.8965093514391635 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.10, Z:-1.16 [[ 0.99993812 0.00664881 -0.00891867 3.79203581] [-0.00660466 0.99996584 0.00497042 -0.10454843] [ 0.00895142 -0.00491121 0.99994787 -1.16035373] [ 0. 0. 0. 1. ]] SLAMing on 88.35719347 meters Centerline goodness [0,1] 0.8948852952237684 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.10, Z:-1.16 [[ 0.99993419 0.00696169 -0.00911833 3.79329988] [-0.00691505 0.9999629 0.00513683 -0.10413789] [ 0.00915376 -0.00507344 0.99994523 -1.16144956] [ 0. 0. 0. 1. ]] SLAMing on 88.38719347 meters Centerline goodness [0,1] 0.8940456804041923 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.10, Z:-1.16 [[ 9.99951293e-01 3.39152727e-03 -9.26875375e-03 3.79394756e+00] [-3.37889239e-03 9.99993341e-01 1.37848881e-03 -1.03914563e-01] [ 9.27336722e-03 -1.34710354e-03 9.99956094e-01 -1.16175696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41719347 meters Centerline goodness [0,1] 0.8969965143703951 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.11, Z:-1.16 [[ 9.99953244e-01 9.34882729e-04 -9.62475366e-03 3.79564998e+00] [-9.43720712e-04 9.99999137e-01 -9.13754807e-04 -1.06060869e-01] [ 9.62389110e-03 9.22795163e-04 9.99953263e-01 -1.16288120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44719347 meters Centerline goodness [0,1] 0.8987254779457703 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.11, Z:-1.17 [[ 9.99947966e-01 -7.32746991e-04 -1.01748997e-02 3.79917249e+00] [ 7.18403224e-04 9.99998743e-01 -1.41330414e-03 -1.14592510e-01] [ 1.01759225e-02 1.40592092e-03 9.99947236e-01 -1.16596833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47719347 meters Centerline goodness [0,1] 0.898707481572738 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.12, Z:-1.17 [[ 9.99947601e-01 -3.86458124e-04 -1.02296419e-02 3.79999069e+00] [ 3.85169903e-04 9.99999918e-01 -1.27900101e-04 -1.19801575e-01] [ 1.02296905e-02 1.23953249e-04 9.99947668e-01 -1.16694320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50719347 meters Centerline goodness [0,1] 0.89867786202143 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.12, Z:-1.17 [[ 9.99949005e-01 -2.30435802e-04 -1.00962813e-02 3.80046042e+00] [ 2.40725180e-04 9.99999453e-01 1.01792211e-03 -1.24707750e-01] [ 1.00960412e-02 -1.02030063e-03 9.99948513e-01 -1.16783826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53719347 meters Centerline goodness [0,1] 0.9013285908567842 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.13, Z:-1.17 [[ 9.99951488e-01 -6.95757479e-04 -9.82533529e-03 3.79956247e+00] [ 7.10878110e-04 9.99998568e-01 1.53553452e-03 -1.28999609e-01] [ 9.82425286e-03 -1.54244464e-03 9.99950551e-01 -1.16727344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56719347 meters Centerline goodness [0,1] 0.8930339425587468 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.14, Z:-1.17 [[ 9.99946180e-01 -4.39647850e-03 -9.39719564e-03 3.79826470e+00] [ 4.39927044e-03 9.99990285e-01 2.76452917e-04 -1.37441791e-01] [ 9.39588893e-03 -3.17778843e-04 9.99955807e-01 -1.16615472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59719347000001 meters Centerline goodness [0,1] 0.8930339425587468 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.14, Z:-1.17 [[ 9.99946180e-01 -4.39647850e-03 -9.39719564e-03 3.79826470e+00] [ 4.39927044e-03 9.99990285e-01 2.76452917e-04 -1.37441791e-01] [ 9.39588893e-03 -3.17778843e-04 9.99955807e-01 -1.16615472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62719347 meters Centerline goodness [0,1] 0.8921560402684564 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.14, Z:-1.17 [[ 9.99922953e-01 -8.12392717e-03 -9.38559335e-03 3.79808514e+00] [ 8.10187280e-03 9.99964334e-01 -2.38544806e-03 -1.41703291e-01] [ 9.40463781e-03 2.30922339e-03 9.99953109e-01 -1.16576911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65719347 meters Centerline goodness [0,1] 0.8878796777982882 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.15, Z:-1.17 [[ 0.99988375 -0.01188502 -0.00955161 3.7984344 ] [ 0.01183849 0.99991785 -0.00491314 -0.1465696 ] [ 0.00960922 0.00479949 0.99994231 -1.16560884] [ 0. 0. 0. 1. ]] SLAMing on 88.68719347 meters Centerline goodness [0,1] 0.8853198497786543 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.15, Z:-1.17 [[ 0.99967875 -0.02337259 -0.00980448 3.80016706] [ 0.02323105 0.9996277 -0.01430983 -0.15495554] [ 0.01013528 0.01407747 0.99984954 -1.16682644] [ 0. 0. 0. 1. ]] SLAMing on 88.71719347 meters Centerline goodness [0,1] 0.8734400234914109 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.16, Z:-1.17 [[ 0.9995811 -0.02718731 -0.00992355 3.80148869] [ 0.02701564 0.99948974 -0.01704152 -0.15916606] [ 0.0103818 0.01676629 0.99980554 -1.16804528] [ 0. 0. 0. 1. ]] SLAMing on 88.74719347 meters Centerline goodness [0,1] 0.8567785094596008 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.16, Z:-1.17 [[ 0.99956361 -0.02775177 -0.01012086 3.80234685] [ 0.02758523 0.99948754 -0.01623903 -0.16311962] [ 0.01056633 0.01595276 0.99981691 -1.16868322] [ 0. 0. 0. 1. ]] SLAMing on 88.77719347 meters Centerline goodness [0,1] 0.8280878240180323 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.17, Z:-1.17 [[ 0.99954476 -0.02846792 -0.00999252 3.80205104] [ 0.0283076 0.99947382 -0.01583538 -0.1652312 ] [ 0.01043807 0.01554531 0.99982468 -1.16841178] [ 0. 0. 0. 1. ]] SLAMing on 88.80719347 meters Centerline goodness [0,1] 0.8572621209275144 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.17, Z:-1.17 [[ 0.99964589 -0.02458579 -0.0101803 3.80224585] [ 0.02446941 0.99963554 -0.01140293 -0.16710903] [ 0.01045694 0.01114979 0.99988316 -1.16839413] [ 0. 0. 0. 1. ]] SLAMing on 88.83719347 meters Centerline goodness [0,1] 0.8674153081884406 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.17, Z:-1.17 [[ 0.99974108 -0.02020172 -0.01047169 3.80309109] [ 0.02013041 0.99977375 -0.00687157 -0.1684727 ] [ 0.01060814 0.00665899 0.99992156 -1.16894325] [ 0. 0. 0. 1. ]] SLAMing on 88.86719347 meters Centerline goodness [0,1] 0.8825899884562913 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.17, Z:-1.17 [[ 9.99818873e-01 -1.57015136e-02 -1.07556315e-02 3.80433319e+00] [ 1.56746521e-02 9.99873824e-01 -2.57720838e-03 -1.69045351e-01] [ 1.07947405e-02 2.40815079e-03 9.99938835e-01 -1.17005268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89719347 meters Centerline goodness [0,1] 0.891165602955996 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.16, Z:-1.17 [[ 9.99974417e-01 -1.16992240e-03 -7.05670368e-03 3.80546592e+00] [ 1.12769524e-03 9.99981454e-01 -5.98499084e-03 -1.64679922e-01] [ 7.06357479e-03 5.97687991e-03 9.99957190e-01 -1.17214711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92719347 meters Centerline goodness [0,1] 0.8935003752188777 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.16, Z:-1.17 [[ 9.99986131e-01 5.21137166e-03 7.61298787e-04 3.81438488e+00] [-5.20555317e-03 9.99958664e-01 -7.45471704e-03 -1.60883991e-01] [-8.00116619e-04 7.45065067e-03 9.99971923e-01 -1.17471949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95719347 meters Centerline goodness [0,1] 0.8939053795626507 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.16, Z:-1.17 [[ 9.99959432e-01 8.98023076e-03 7.00211475e-04 3.81398908e+00] [-8.97720957e-03 9.99950864e-01 -4.20463585e-03 -1.58840967e-01] [-7.37935670e-04 4.19817933e-03 9.99990915e-01 -1.17378662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98719347 meters Centerline goodness [0,1] 0.8950467250555253 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.16, Z:-1.17 [[ 9.99924450e-01 1.22468394e-02 1.05284296e-03 3.81166643e+00] [-1.22451320e-02 9.99923724e-01 -1.61309396e-03 -1.57147186e-01] [-1.07251796e-03 1.60007989e-03 9.99998145e-01 -1.17132058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01719347 meters Centerline goodness [0,1] 0.8972720415688904 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.16, Z:-1.17 [[ 9.99925465e-01 1.21868157e-02 7.38914829e-04 3.81248104e+00] [-1.21853512e-02 9.99923845e-01 -1.95504230e-03 -1.56168618e-01] [-7.62684297e-04 1.94589264e-03 9.99997816e-01 -1.17155037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04719347 meters Centerline goodness [0,1] 0.9014828953163999 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.16, Z:-1.17 [[ 9.99927863e-01 1.20070436e-02 3.14377079e-04 3.81409710e+00] [-1.20062841e-02 9.99925241e-01 -2.31554870e-03 -1.55215006e-01] [-3.42156471e-04 2.31160716e-03 9.99997270e-01 -1.17261081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07719347 meters Centerline goodness [0,1] 0.9043220890446902 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.16, Z:-1.18 [[ 9.99944527e-01 1.05237436e-02 -4.39502574e-04 3.81810057e+00] [-1.05252730e-02 9.99937997e-01 -3.63603131e-03 -1.55342507e-01] [ 4.01210663e-04 3.64045550e-03 9.99993293e-01 -1.17611105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10719347 meters Centerline goodness [0,1] 0.9043290677948352 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.16, Z:-1.18 [[ 9.99956725e-01 9.23353599e-03 -1.13537820e-03 3.82074664e+00] [-9.23864225e-03 9.99946845e-01 -4.57756949e-03 -1.56623125e-01] [ 1.09305070e-03 4.58786075e-03 9.99988878e-01 -1.17785453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13719347 meters Centerline goodness [0,1] 0.903192671320462 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.16, Z:-1.18 [[ 9.99959785e-01 8.87734186e-03 -1.27324501e-03 3.82119230e+00] [-8.88270373e-03 9.99951434e-01 -4.26924150e-03 -1.59413468e-01] [ 1.23528365e-03 4.28037967e-03 9.99990076e-01 -1.17816659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16719347 meters Centerline goodness [0,1] 0.9033986271555332 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.16, Z:-1.18 [[ 9.99981028e-01 5.88317555e-03 -1.82510968e-03 3.82309273e+00] [-5.89457726e-03 9.99962744e-01 -6.30595838e-03 -1.64319023e-01] [ 1.78794263e-03 6.31659699e-03 9.99978452e-01 -1.17944754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19719347 meters Centerline goodness [0,1] 0.9063184920784019 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.17, Z:-1.18 [[ 9.99981002e-01 5.66687188e-03 -2.42525172e-03 3.82468768e+00] [-5.68127019e-03 9.99966030e-01 -5.97170379e-03 -1.65707624e-01] [ 2.39132846e-03 5.98536885e-03 9.99979228e-01 -1.18006590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22719347 meters Centerline goodness [0,1] 0.9071488294314382 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.17, Z:-1.18 [[ 9.99981229e-01 5.55339664e-03 -2.58868430e-03 3.82501416e+00] [-5.56842188e-03 9.99967480e-01 -5.83358268e-03 -1.65940860e-01] [ 2.55620392e-03 5.84788807e-03 9.99979634e-01 -1.18000113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25719347 meters Centerline goodness [0,1] 0.9059714608528268 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.17, Z:-1.18 [[ 9.99981307e-01 5.39655595e-03 -2.87450243e-03 3.82515436e+00] [-5.41173499e-03 9.99971315e-01 -5.29923950e-03 -1.67643402e-01] [ 2.84582234e-03 5.31469649e-03 9.99981827e-01 -1.17939302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28719347 meters Centerline goodness [0,1] 0.9034462457158476 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.17, Z:-1.18 [[ 9.99982578e-01 5.01806273e-03 -3.10859540e-03 3.82571098e+00] [-5.03358155e-03 9.99974808e-01 -5.00468393e-03 -1.70677469e-01] [ 3.08340327e-03 5.02024411e-03 9.99982645e-01 -1.17963899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31719347 meters Centerline goodness [0,1] 0.9083396416855918 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.17, Z:-1.18 [[ 9.99984333e-01 4.59838072e-03 -3.19184104e-03 3.82624797e+00] [-4.61270330e-03 9.99979261e-01 -4.49448549e-03 -1.74969766e-01] [ 3.17110749e-03 4.50913809e-03 9.99984806e-01 -1.18017994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34719347000001 meters Centerline goodness [0,1] 0.9048794777368597 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.18, Z:-1.18 [[ 9.99991981e-01 1.35550700e-03 -3.76832421e-03 3.82830209e+00] [-1.38304200e-03 9.99972296e-01 -7.31398495e-03 -1.77583789e-01] [ 3.75830565e-03 7.31913805e-03 9.99966152e-01 -1.18143335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37719347 meters Centerline goodness [0,1] 0.8993692178301094 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.18, Z:-1.18 [[ 9.99987017e-01 -3.27967579e-03 -3.89983259e-03 3.82850452e+00] [ 3.23665014e-03 9.99934389e-01 -1.09882865e-02 -1.79612503e-01] [ 3.93561474e-03 1.09755214e-02 9.99932022e-01 -1.18137895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40719347 meters Centerline goodness [0,1] 0.8983239753538157 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.18, Z:-1.18 [[ 9.99984650e-01 -3.52537995e-03 -4.27450470e-03 3.82957656e+00] [ 3.47874112e-03 9.99934872e-01 -1.08697097e-02 -1.79952548e-01] [ 4.31254617e-03 1.08546730e-02 9.99931787e-01 -1.18179164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43719347 meters Centerline goodness [0,1] 0.8922840739416626 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.18, Z:-1.18 [[ 9.99989395e-01 -1.53984328e-04 -4.60280128e-03 3.83059156e+00] [ 1.22869053e-04 9.99977146e-01 -6.75959213e-03 -1.81232138e-01] [ 4.60373696e-03 6.75895490e-03 9.99966561e-01 -1.18235980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46719347 meters Centerline goodness [0,1] 0.9046572014909746 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.18, Z:-1.18 [[ 9.99980708e-01 3.09898546e-03 -5.38330481e-03 3.83362879e+00] [-3.12163517e-03 9.99986290e-01 -4.20410338e-03 -1.78982129e-01] [ 5.37020255e-03 4.22082699e-03 9.99976672e-01 -1.18426763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49719347 meters Centerline goodness [0,1] 0.9072337575351641 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.19 [[ 9.99970930e-01 4.70712197e-03 -5.99849517e-03 3.83608367e+00] [-4.72864459e-03 9.99982416e-01 -3.57888473e-03 -1.77623923e-01] [ 5.98154344e-03 3.60714544e-03 9.99975605e-01 -1.18576677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52719347 meters Centerline goodness [0,1] 0.9151522773480895 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.19 [[ 9.99963424e-01 5.83587047e-03 -6.25253262e-03 3.83687669e+00] [-5.85788596e-03 9.99976687e-01 -3.50854240e-03 -1.76307828e-01] [ 6.23191146e-03 3.54504069e-03 9.99974298e-01 -1.18603335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55719347 meters Centerline goodness [0,1] 0.9212019331792394 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.17, Z:-1.19 [[ 9.99956885e-01 6.79360619e-03 -6.33046009e-03 3.83695585e+00] [-6.81576182e-03 9.99970700e-01 -3.48486806e-03 -1.74785677e-01] [ 6.30659978e-03 3.52786472e-03 9.99973890e-01 -1.18570118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58719347 meters Centerline goodness [0,1] 0.9229559748427673 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.17, Z:-1.19 [[ 9.99916049e-01 1.12402281e-02 -6.44603326e-03 3.83719271e+00] [-1.12391916e-02 9.99936819e-01 1.97010057e-04 -1.71403181e-01] [ 6.44784044e-03 -1.24545315e-04 9.99979205e-01 -1.18537063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61719347 meters Centerline goodness [0,1] 0.9223248120930427 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.17, Z:-1.19 [[ 9.99914475e-01 1.11087601e-02 -6.90209451e-03 3.83831301e+00] [-1.11098045e-02 9.99938278e-01 -1.13000202e-04 -1.69685811e-01] [ 6.90041320e-03 1.89671458e-04 9.99976174e-01 -1.18553673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64719347 meters Centerline goodness [0,1] 0.921059785449907 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.17, Z:-1.19 [[ 9.99914039e-01 1.08528752e-02 -7.35723196e-03 3.83949032e+00] [-1.08536896e-02 9.99941094e-01 -7.07843530e-05 -1.70231769e-01] [ 7.35603037e-03 1.50631381e-04 9.99972933e-01 -1.18587627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67719347 meters Centerline goodness [0,1] 0.9174704580567038 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.17, Z:-1.19 [[ 9.99942496e-01 7.26437175e-03 -7.88877685e-03 3.84030889e+00] [-7.28554278e-03 9.99969927e-01 -2.65827620e-03 -1.74898884e-01] [ 7.86922890e-03 2.71559736e-03 9.99965350e-01 -1.18565762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70719347 meters Centerline goodness [0,1] 0.9167205186466824 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.19 [[ 0.99995974 0.00400129 -0.0080317 3.84030623] [-0.00404755 0.99997527 -0.00575173 -0.17668936] [ 0.00800849 0.00578401 0.9999512 -1.18518892] [ 0. 0. 0. 1. ]] SLAMing on 89.73719347 meters Centerline goodness [0,1] 0.9154011655839408 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.19 [[ 0.9999593 0.00395815 -0.00810799 3.84037188] [-0.00399968 0.99997894 -0.00511153 -0.17992281] [ 0.00808759 0.00514375 0.99995407 -1.18506431] [ 0. 0. 0. 1. ]] SLAMing on 89.76719347 meters Centerline goodness [0,1] 0.9168021341336334 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.19 [[ 0.99995518 0.00458754 -0.00828254 3.8407894 ] [-0.00462002 0.9999817 -0.00390678 -0.18331174] [ 0.00826446 0.00394487 0.99995807 -1.18505642] [ 0. 0. 0. 1. ]] SLAMing on 89.79719347 meters Centerline goodness [0,1] 0.9145736011898528 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.18 [[ 9.99953955e-01 4.77411234e-03 -8.32437041e-03 3.84051611e+00] [-4.80556986e-03 9.99981373e-01 -3.76306903e-03 -1.83236906e-01] [ 8.30625004e-03 3.80289910e-03 9.99958271e-01 -1.18447693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82719347 meters Centerline goodness [0,1] 0.9137104706891861 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.18 [[ 9.99952235e-01 4.93352549e-03 -8.43730594e-03 3.84078392e+00] [-4.96374091e-03 9.99981329e-01 -3.56398595e-03 -1.83150505e-01] [ 8.41956540e-03 3.60569632e-03 9.99958054e-01 -1.18440483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85719347 meters Centerline goodness [0,1] 0.9120383008210319 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.18, Z:-1.18 [[ 9.99949867e-01 4.85949928e-03 -8.75497074e-03 3.84131146e+00] [-4.88911176e-03 9.99982389e-01 -3.36414078e-03 -1.84013657e-01] [ 8.73846852e-03 3.40677616e-03 9.99956016e-01 -1.18421627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88719347 meters Centerline goodness [0,1] 0.9107150354788597 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-1.18 [[ 9.99948734e-01 4.54938874e-03 -9.04616174e-03 3.84206625e+00] [-4.57787629e-03 9.99984620e-01 -3.13092240e-03 -1.86023090e-01] [ 9.03177883e-03 3.17217410e-03 9.99954181e-01 -1.18445549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91719347 meters Centerline goodness [0,1] 0.9091672439490313 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-1.19 [[ 9.99955404e-01 9.02008054e-04 -9.40091852e-03 3.84367038e+00] [-9.58427735e-04 9.99981548e-01 -5.99873111e-03 -1.90274499e-01] [ 9.39533416e-03 6.00747369e-03 9.99937817e-01 -1.18575582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94719347 meters Centerline goodness [0,1] 0.908523560209424 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-1.19 [[ 9.99953007e-01 7.10851786e-04 -9.66838345e-03 3.84438611e+00] [-7.66889398e-04 9.99982924e-01 -5.79349314e-03 -1.91495135e-01] [ 9.66410004e-03 5.80063547e-03 9.99936477e-01 -1.18594821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97719347 meters Centerline goodness [0,1] 0.9080176767676768 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.19, Z:-1.19 [[ 9.99951004e-01 3.93649322e-04 -9.89118151e-03 3.84480537e+00] [-4.53157568e-04 9.99981808e-01 -6.01477225e-03 -1.90946156e-01] [ 9.88863387e-03 6.01895981e-03 9.99932991e-01 -1.18585144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00719347 meters Centerline goodness [0,1] 0.9010093411071406 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.19, Z:-1.19 [[ 9.99879351e-01 -3.81155491e-03 -1.50583794e-02 3.85651045e+00] [ 3.75028252e-03 9.99984583e-01 -4.09513466e-03 -1.87880944e-01] [ 1.50737561e-02 4.03816741e-03 9.99878230e-01 -1.18564706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03719347 meters Centerline goodness [0,1] 0.8971462047033225 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.19, Z:-1.19 [[ 0.99987322 -0.00404427 -0.01540106 3.85789895] [ 0.00398162 0.99998368 -0.00409662 -0.18829447] [ 0.01541738 0.00403478 0.999873 -1.18660458] [ 0. 0. 0. 1. ]] SLAMing on 90.06719347 meters Centerline goodness [0,1] 0.8950953963178903 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.19, Z:-1.19 [[ 0.99986455 -0.00430377 -0.01588585 3.8597436 ] [ 0.00423969 0.99998275 -0.00406507 -0.18906386] [ 0.01590307 0.00399716 0.99986555 -1.18777881] [ 0. 0. 0. 1. ]] SLAMing on 90.09719347000001 meters Centerline goodness [0,1] 0.8887093389296957 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.19, Z:-1.19 [[ 0.99985795 -0.0050434 -0.01608264 3.8607462 ] [ 0.00496998 0.99997706 -0.00460237 -0.18895218] [ 0.01610549 0.00452178 0.99986007 -1.18861841] [ 0. 0. 0. 1. ]] SLAMing on 90.12719347 meters Centerline goodness [0,1] 0.8911930148602133 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.19, Z:-1.19 [[ 0.99985538 -0.0052473 -0.01617681 3.86051081] [ 0.00516742 0.99997427 -0.00497546 -0.1876182 ] [ 0.0162025 0.00489114 0.99985677 -1.18788134] [ 0. 0. 0. 1. ]] SLAMing on 90.15719347 meters Centerline goodness [0,1] 0.8863083985957332 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.19, Z:-1.19 [[ 9.99936935e-01 -7.03045619e-03 -8.75773411e-03 3.87036560e+00] [ 7.04105379e-03 9.99974515e-01 1.17984041e-03 -1.86761814e-01] [ 8.74921611e-03 -1.24142968e-03 9.99960954e-01 -1.19041416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18719347 meters Centerline goodness [0,1] 0.8869759385629917 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-1.19 [[ 9.99941888e-01 -6.35918062e-03 -8.70527895e-03 3.86830387e+00] [ 6.37471752e-03 9.99978136e-01 1.75818471e-03 -1.84626913e-01] [ 8.69390800e-03 -1.81357623e-03 9.99960563e-01 -1.18794270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21719347 meters Centerline goodness [0,1] 0.8826533816172315 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-1.19 [[ 9.99934624e-01 -7.16200440e-03 -8.91368183e-03 3.86789452e+00] [ 7.16749403e-03 9.99974143e-01 5.84072968e-04 -1.81281618e-01] [ 8.90926821e-03 -6.47923545e-04 9.99960102e-01 -1.18669077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24719347 meters Centerline goodness [0,1] 0.8775382692908467 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-1.19 [[ 9.99927229e-01 -7.70870682e-03 -9.27964000e-03 3.86909942e+00] [ 7.70984232e-03 9.99970275e-01 8.65975323e-05 -1.80945436e-01] [ 9.27869661e-03 -1.58135792e-04 9.99956939e-01 -1.18730963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27719347 meters Centerline goodness [0,1] 0.8720672956499959 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-1.19 [[ 9.99922769e-01 -8.12314037e-03 -9.40584760e-03 3.86977133e+00] [ 8.12147890e-03 9.99966997e-01 -2.14825211e-04 -1.80804072e-01] [ 9.40728223e-03 1.38419227e-04 9.99955741e-01 -1.18782125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30719347 meters Centerline goodness [0,1] 0.8423129933592282 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-1.19 [[ 9.99909193e-01 -9.44142296e-03 -9.61589437e-03 3.87060557e+00] [ 9.42599133e-03 9.99954215e-01 -1.64886326e-03 -1.77102363e-01] [ 9.63102172e-03 1.55807420e-03 9.99952407e-01 -1.18827594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33719347 meters Centerline goodness [0,1] 0.8447403629065975 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.18, Z:-1.19 [[ 9.99929656e-01 -6.87815405e-03 -9.66302910e-03 3.87084438e+00] [ 6.89081710e-03 9.99975442e-01 1.27778178e-03 -1.75907514e-01] [ 9.65400301e-03 -1.34427806e-03 9.99952495e-01 -1.18845659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36719347 meters Centerline goodness [0,1] 0.8398358572708147 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.17, Z:-1.19 [[ 9.99922769e-01 -7.43278344e-03 -9.96045786e-03 3.87169586e+00] [ 7.43743527e-03 9.99972249e-01 4.30069551e-04 -1.73395690e-01] [ 9.95698484e-03 -5.04116596e-04 9.99950301e-01 -1.18872827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39719347 meters Centerline goodness [0,1] 0.831989247311828 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.17, Z:-1.19 [[ 9.99914127e-01 -8.35211736e-03 -1.00985660e-02 3.87156120e+00] [ 8.34494795e-03 9.99964898e-01 -7.51873590e-04 -1.71349162e-01] [ 1.01044912e-02 6.67537017e-04 9.99948726e-01 -1.18808899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42719347 meters Centerline goodness [0,1] 0.8261673213047953 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.17, Z:-1.19 [[ 9.99892009e-01 -1.07200416e-02 -1.00524585e-02 3.87025266e+00] [ 1.06815854e-02 9.99935456e-01 -3.87147496e-03 -1.65094043e-01] [ 1.00933120e-02 3.76368068e-03 9.99941978e-01 -1.18630615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45719347 meters Centerline goodness [0,1] 0.801685110663984 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.16, Z:-1.19 [[ 0.99987747 -0.01182712 -0.01025507 3.87057802] [ 0.01177094 0.99991548 -0.00552106 -0.16072783] [ 0.0103195 0.00539967 0.99993217 -1.18598475] [ 0. 0. 0. 1. ]] SLAMing on 90.48719347 meters Centerline goodness [0,1] 0.801685110663984 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.16, Z:-1.19 [[ 0.99987747 -0.01182712 -0.01025507 3.87057802] [ 0.01177094 0.99991548 -0.00552106 -0.16072783] [ 0.0103195 0.00539967 0.99993217 -1.18598475] [ 0. 0. 0. 1. ]] SLAMing on 90.51719347 meters Centerline goodness [0,1] 0.7594340605530203 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.16, Z:-1.19 [[ 0.99986066 -0.0130653 -0.01039064 3.87072374] [ 0.01299065 0.99988956 -0.00721934 -0.15635802] [ 0.01048381 0.00708335 0.99991995 -1.18557643] [ 0. 0. 0. 1. ]] SLAMing on 90.54719347 meters Centerline goodness [0,1] 0.7353866016950917 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.15, Z:-1.18 [[ 0.9998193 -0.0161115 -0.0100888 3.86909171] [ 0.01599959 0.99981064 -0.01107698 -0.14652575] [ 0.01026536 0.01091356 0.99988775 -1.1839465 ] [ 0. 0. 0. 1. ]] SLAMing on 90.57719347 meters Centerline goodness [0,1] 0.7336542908800403 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.14, Z:-1.18 [[ 0.99984928 -0.01427548 -0.00988051 3.86814187] [ 0.01418307 0.9998556 -0.00936043 -0.14300377] [ 0.01001271 0.00921889 0.99990737 -1.18329856] [ 0. 0. 0. 1. ]] SLAMing on 90.60719347 meters Centerline goodness [0,1] 0.7136461580301667 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.14, Z:-1.18 [[ 0.9998364 -0.01501895 -0.01007977 3.8690559 ] [ 0.01490842 0.99982887 -0.01095276 -0.13770045] [ 0.01024254 0.01080069 0.99988921 -1.1837238 ] [ 0. 0. 0. 1. ]] SLAMing on 90.63719347 meters Centerline goodness [0,1] 0.7214111668783972 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.13, Z:-1.18 [[ 0.99986882 -0.01258969 -0.01019077 3.86984569] [ 0.01249832 0.99988157 -0.00898034 -0.13301096] [ 0.01030262 0.00885179 0.99990775 -1.18438507] [ 0. 0. 0. 1. ]] SLAMing on 90.66719347 meters Centerline goodness [0,1] 0.7234948604992658 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.12, Z:-1.18 [[ 0.99992009 -0.00807583 -0.00972619 3.86939208] [ 0.00801891 0.99995058 -0.00587728 -0.11930338] [ 0.00977317 0.00579881 0.99993543 -1.18477073] [ 0. 0. 0. 1. ]] SLAMing on 90.69719347 meters Centerline goodness [0,1] 0.7240556660039761 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.11, Z:-1.19 [[ 9.99938914e-01 -4.66155657e-03 -1.00219286e-02 3.87048876e+00] [ 4.62597894e-03 9.99982927e-01 -3.57023377e-03 -1.14189893e-01] [ 1.00384003e-02 3.52365445e-03 9.99943406e-01 -1.18523570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72719347 meters Centerline goodness [0,1] 0.7438346101374751 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.11, Z:-1.18 [[ 9.99947665e-01 -1.49846616e-03 -1.01204076e-02 3.87052465e+00] [ 1.48245337e-03 9.99997638e-01 -1.58954458e-03 -1.09383084e-01] [ 1.01227656e-02 1.57445835e-03 9.99947524e-01 -1.18481086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75719347 meters Centerline goodness [0,1] 0.7669522746889539 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.10, Z:-1.18 [[ 9.99945890e-01 1.70126053e-03 -1.02626505e-02 3.87082452e+00] [-1.69770474e-03 9.99998496e-01 3.55180489e-04 -1.04048614e-01] [ 1.02632393e-02 -3.37738320e-04 9.99947275e-01 -1.18459445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78719347 meters Centerline goodness [0,1] 0.8370267190072179 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.09, Z:-1.19 [[ 0.99990017 0.00923114 -0.01069747 3.87337442] [-0.00916999 0.99994141 0.00575145 -0.09154023] [ 0.01074993 -0.00565278 0.99992624 -1.18616557] [ 0. 0. 0. 1. ]] SLAMing on 90.81719347 meters Centerline goodness [0,1] 0.8290754641603062 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.09, Z:-1.19 [[ 0.99985997 0.01276562 -0.01081989 3.87475184] [-0.01267933 0.99988756 0.00800694 -0.08510856] [ 0.01092089 -0.00786863 0.99990941 -1.18712201] [ 0. 0. 0. 1. ]] SLAMing on 90.84719347000001 meters Centerline goodness [0,1] 0.8527763088313062 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.07, Z:-1.19 [[ 0.9997506 0.0194363 -0.01099873 3.87645076] [-0.01929968 0.99973692 0.01239402 -0.07422346] [ 0.01123673 -0.01217865 0.9998627 -1.18783586] [ 0. 0. 0. 1. ]] SLAMing on 90.87719347 meters Centerline goodness [0,1] 0.8571699065892451 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.07, Z:-1.19 [[ 0.99970364 0.0215289 -0.01136396 3.87845174] [-0.02137413 0.99967945 0.01357008 -0.06957517] [ 0.01165247 -0.01332316 0.99984334 -1.18902384] [ 0. 0. 0. 1. ]] SLAMing on 90.90719347 meters Centerline goodness [0,1] 0.8631587777614663 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.06, Z:-1.19 [[ 0.99969591 0.02179901 -0.0115276 3.87961557] [-0.02165495 0.99968764 0.01247728 -0.06442554] [ 0.011796 -0.01222386 0.99985571 -1.18959779] [ 0. 0. 0. 1. ]] SLAMing on 90.93719347 meters Centerline goodness [0,1] 0.8712608860280197 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.06, Z:-1.19 [[ 0.99968978 0.02199562 -0.011685 3.88053457] [-0.02186458 0.99969791 0.01122634 -0.05913787] [ 0.0119284 -0.01096737 0.99986871 -1.18982187] [ 0. 0. 0. 1. ]] SLAMing on 90.96719347 meters Centerline goodness [0,1] 0.8728476821192053 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.06, Z:-1.19 [[ 0.99960541 0.02548445 -0.01181413 3.88151906] [-0.02531922 0.99958235 0.01393055 -0.05534858] [ 0.01216421 -0.01362593 0.99983317 -1.19037757] [ 0. 0. 0. 1. ]] SLAMing on 90.99719347 meters Centerline goodness [0,1] 0.875005282062117 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.05, Z:-1.19 [[ 0.99940172 0.03255907 -0.0116665 3.88157689] [-0.03233498 0.99929823 0.01890753 -0.04625479] [ 0.01227393 -0.01851898 0.99975317 -1.18943112] [ 0. 0. 0. 1. ]] SLAMing on 91.02719347 meters Centerline goodness [0,1] 0.875219683655536 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-1.19 [[ 0.99926845 0.03639281 -0.01175304 3.8821476 ] [-0.03613077 0.99910955 0.0217871 -0.04258513] [ 0.01253547 -0.02134651 0.99969355 -1.18935433] [ 0. 0. 0. 1. ]] SLAMing on 91.05719347 meters Centerline goodness [0,1] 0.875308824461009 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-1.19 [[ 0.99924424 0.03698467 -0.01196146 3.88311201] [-0.03672894 0.99910595 0.02093531 -0.03848681] [ 0.01272506 -0.02048016 0.99970928 -1.18947285] [ 0. 0. 0. 1. ]] SLAMing on 91.08719347 meters Centerline goodness [0,1] 0.8754164733667917 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-1.19 [[ 0.9990704 0.04146096 -0.0118033 3.88439151] [-0.04116478 0.99885639 0.02431818 -0.03652938] [ 0.01279805 -0.02380969 0.99963459 -1.19076576] [ 0. 0. 0. 1. ]] SLAMing on 91.11719347 meters Centerline goodness [0,1] 0.8767175411152919 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-1.19 [[ 0.99906569 0.04157637 -0.01179638 3.88464557] [-0.04128517 0.99886057 0.02393942 -0.03501684] [ 0.01277826 -0.02343004 0.99964381 -1.19086366] [ 0. 0. 0. 1. ]] SLAMing on 91.14719347 meters Centerline goodness [0,1] 0.8757406466903673 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.03, Z:-1.19 [[ 0.99905662 0.04179116 -0.01180539 3.88473102] [-0.0415009 0.99885387 0.02384591 -0.03417637] [ 0.01278841 -0.02333348 0.99964594 -1.19069128] [ 0. 0. 0. 1. ]] SLAMing on 91.17719347 meters Centerline goodness [0,1] 0.8765327695560253 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-1.19 [[ 0.99903835 0.04233285 -0.01141526 3.88368467] [-0.04204731 0.99882272 0.02419076 -0.03511151] [ 0.01242589 -0.02368752 0.99964219 -1.18961978] [ 0. 0. 0. 1. ]] SLAMing on 91.20719347 meters Centerline goodness [0,1] 0.8762063649610373 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-1.19 [[ 0.99915823 0.03937066 -0.01152341 3.88363592] [-0.03912452 0.99901662 0.02085842 -0.03584815] [ 0.01233328 -0.02039001 0.99971603 -1.18917199] [ 0. 0. 0. 1. ]] SLAMing on 91.23719347 meters Centerline goodness [0,1] 0.8772513335425165 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.04, Z:-1.19 [[ 0.99933818 0.03573797 -0.00678271 3.89862264] [-0.0355829 0.99913001 0.0217502 -0.03883278] [ 0.00755412 -0.02149446 0.99974043 -1.18881319] [ 0. 0. 0. 1. ]] SLAMing on 91.26719347 meters Centerline goodness [0,1] 0.8761976962115947 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.05, Z:-1.19 [[ 0.99958577 0.02800964 -0.00661415 3.8970633 ] [-0.02790661 0.99949516 0.01518727 -0.04545519] [ 0.0070362 -0.0149964 0.99986279 -1.18766566] [ 0. 0. 0. 1. ]] SLAMing on 91.29719347 meters Centerline goodness [0,1] 0.8751074671307849 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.05, Z:-1.19 [[ 0.99975765 0.02083003 -0.00712379 3.89822936] [-0.02076691 0.99974542 0.00882214 -0.04999205] [ 0.00730574 -0.00867207 0.99993571 -1.18822881] [ 0. 0. 0. 1. ]] SLAMing on 91.32719347 meters Centerline goodness [0,1] 0.8804674527607877 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.06, Z:-1.19 [[ 9.99887226e-01 1.31010910e-02 -7.34140771e-03 3.89847749e+00] [-1.30853520e-02 9.99911990e-01 2.18782084e-03 -5.50799518e-02] [ 7.36942443e-03 -2.09150921e-03 9.99970658e-01 -1.18834797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35719347 meters Centerline goodness [0,1] 0.8805844986268055 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.06, Z:-1.19 [[ 9.99986949e-01 4.69675757e-03 -2.01040109e-03 3.90963034e+00] [-4.68595629e-03 9.99974741e-01 5.34410730e-03 -6.21953743e-02] [ 2.03545029e-03 -5.33461691e-03 9.99983699e-01 -1.19233132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38719347 meters Centerline goodness [0,1] 0.8673718813216453 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.07, Z:-1.20 [[ 9.99983623e-01 -5.67636691e-03 -7.30380011e-04 3.90708640e+00] [ 5.67898291e-03 9.99977283e-01 3.63090572e-03 -7.35992420e-02] [ 7.09753066e-04 -3.63499407e-03 9.99993142e-01 -1.19706796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41719347 meters Centerline goodness [0,1] 0.8392022959130234 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.08, Z:-1.20 [[ 9.99955182e-01 -9.40086950e-03 -1.12112679e-03 3.90874535e+00] [ 9.40228161e-03 9.99955002e-01 1.26100083e-03 -7.83650790e-02] [ 1.10922184e-03 -1.27148546e-03 9.99998576e-01 -1.19837689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44719347 meters Centerline goodness [0,1] 0.8199125830041187 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.08, Z:-1.20 [[ 9.99919378e-01 -1.26196448e-02 -1.40779863e-03 3.91043709e+00] [ 1.26182928e-02 9.99919920e-01 -9.65160981e-04 -8.30622280e-02] [ 1.41986588e-03 9.47319152e-04 9.99998543e-01 -1.19984267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47719347 meters Centerline goodness [0,1] 0.807840576351878 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.09, Z:-1.20 [[ 9.99881641e-01 -1.52955501e-02 -1.65861680e-03 3.91277948e+00] [ 1.52916107e-02 9.99880286e-01 -2.36235225e-03 -8.92224209e-02] [ 1.69455171e-03 2.33670972e-03 9.99995834e-01 -1.20221209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50719347 meters Centerline goodness [0,1] 0.77662129703763 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.09, Z:-1.20 [[ 9.99887538e-01 -1.48931407e-02 -1.76215715e-03 3.91361815e+00] [ 1.48903713e-02 9.99887893e-01 -1.57438084e-03 -9.08035008e-02] [ 1.78540708e-03 1.54796461e-03 9.99997208e-01 -1.20304495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53719347 meters Centerline goodness [0,1] 0.7851168095982426 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.09, Z:-1.20 [[ 9.99928238e-01 -1.18736335e-02 -1.59243547e-03 3.91351855e+00] [ 1.18768771e-02 9.99927380e-01 2.04313099e-03 -9.32505025e-02] [ 1.56806044e-03 -2.06189753e-03 9.99996645e-01 -1.20345555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56719347 meters Centerline goodness [0,1] 0.802448396783067 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.09, Z:-1.20 [[ 9.99930773e-01 -1.16281891e-02 -1.79831630e-03 3.91427614e+00] [ 1.16326246e-02 9.99929273e-01 2.47599982e-03 -9.37868110e-02] [ 1.76939772e-03 -2.49674755e-03 9.99995318e-01 -1.20386290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59719347000001 meters Centerline goodness [0,1] 0.7945448403985813 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.10, Z:-1.20 [[ 9.99930229e-01 -1.16785369e-02 -1.77436335e-03 3.91382945e+00] [ 1.16835838e-02 9.99927651e-01 2.86113545e-03 -9.53393937e-02] [ 1.74082110e-03 -2.88166675e-03 9.99994333e-01 -1.20317773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62719347 meters Centerline goodness [0,1] 0.7830463077277198 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.10, Z:-1.20 [[ 9.99927311e-01 -1.18953323e-02 -1.96818649e-03 3.91435654e+00] [ 1.19009244e-02 9.99925108e-01 2.85432162e-03 -9.59823754e-02] [ 1.93408598e-03 -2.87753738e-03 9.99993990e-01 -1.20328571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65719347 meters Centerline goodness [0,1] 0.7875544152594057 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.10, Z:-1.20 [[ 9.99925991e-01 -1.19878761e-02 -2.07458750e-03 3.91462122e+00] [ 1.19937931e-02 9.99923972e-01 2.86358599e-03 -9.59887581e-02] [ 2.04010146e-03 -2.88825623e-03 9.99993748e-01 -1.20333623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68719347 meters Centerline goodness [0,1] 0.7761847869374752 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.09, Z:-1.21 [[ 9.99939207e-01 -1.07128899e-02 -2.61092358e-03 3.91744274e+00] [ 1.07226570e-02 9.99935456e-01 3.75602105e-03 -9.41022353e-02] [ 2.57051722e-03 -3.78378875e-03 9.99989538e-01 -1.20556532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71719347 meters Centerline goodness [0,1] 0.8013477940402232 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.09, Z:-1.21 [[ 9.99971588e-01 -7.00702936e-03 -2.77944829e-03 3.91803501e+00] [ 7.02682018e-03 9.99949565e-01 7.17572875e-03 -9.26458060e-02] [ 2.72902757e-03 -7.19505556e-03 9.99970391e-01 -1.20598020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74719347 meters Centerline goodness [0,1] 0.8218688207328874 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.09, Z:-1.21 [[ 9.99990977e-01 -3.05079062e-03 -2.95613077e-03 3.91893189e+00] [ 3.08193231e-03 9.99939197e-01 1.05879565e-02 -9.06381579e-02] [ 2.92364939e-03 -1.05969715e-02 9.99939576e-01 -1.20669781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77719347 meters Centerline goodness [0,1] 0.8619936123718273 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-1.21 [[ 9.99995624e-01 1.76661667e-03 -2.37313653e-03 3.91765340e+00] [-1.73575338e-03 9.99914704e-01 1.29449780e-02 -8.45766930e-02] [ 2.39580292e-03 -1.29408022e-02 9.99913394e-01 -1.20508228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80719347 meters Centerline goodness [0,1] 0.8725632147728465 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-1.20 [[ 9.99995133e-01 1.99064379e-03 -2.40242890e-03 3.91747185e+00] [-1.96191438e-03 9.99927242e-01 1.19021730e-02 -8.07472865e-02] [ 2.42594709e-03 -1.18974017e-02 9.99926281e-01 -1.20430052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83719347 meters Centerline goodness [0,1] 0.8831009975325306 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-1.20 [[ 9.99995052e-01 2.06942398e-03 -2.36930558e-03 3.91715590e+00] [-2.04328102e-03 9.99937589e-01 1.09837712e-02 -7.75226034e-02] [ 2.39188779e-03 -1.09788757e-02 9.99936870e-01 -1.20359442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86719347 meters Centerline goodness [0,1] 0.8875873795579067 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.07, Z:-1.20 [[ 9.99995807e-01 1.73946276e-03 -2.31509402e-03 3.91637387e+00] [-1.71809251e-03 9.99956194e-01 9.20103387e-03 -7.14882647e-02] [ 2.33099746e-03 -9.19701774e-03 9.99954990e-01 -1.20200471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89719347 meters Centerline goodness [0,1] 0.8876681189619247 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.07, Z:-1.20 [[ 9.99995856e-01 1.39163875e-03 -2.52026826e-03 3.91667035e+00] [-1.37053234e-03 9.99964139e-01 8.35711903e-03 -6.91269836e-02] [ 2.53180797e-03 -8.35363029e-03 9.99961903e-01 -1.20176792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92719347 meters Centerline goodness [0,1] 0.8892794376098418 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.07, Z:-1.20 [[ 9.99995384e-01 1.17847522e-03 -2.80052457e-03 3.91744065e+00] [-1.15674423e-03 9.99969310e-01 7.74860597e-03 -6.74326522e-02] [ 2.80957016e-03 -7.74533071e-03 9.99966058e-01 -1.20197756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95719347 meters Centerline goodness [0,1] 0.8876541650881845 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.07, Z:-1.20 [[ 9.99995058e-01 1.07817152e-03 -2.95321900e-03 3.91783002e+00] [-1.05705870e-03 9.99973942e-01 7.14134397e-03 -6.58434080e-02] [ 2.96084164e-03 -7.13818695e-03 9.99970139e-01 -1.20200542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98719347 meters Centerline goodness [0,1] 0.8939771766694844 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.07, Z:-1.20 [[ 9.99974230e-01 6.19323247e-03 -3.63099109e-03 3.92077506e+00] [-6.15069784e-03 9.99913676e-01 1.16107445e-02 -6.52638813e-02] [ 3.70258569e-03 -1.15881121e-02 9.99926001e-01 -1.20411913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01719347 meters Centerline goodness [0,1] 0.8974093044913856 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.06, Z:-1.21 [[ 0.99995978 0.00784032 -0.00435434 3.92393931] [-0.00778504 0.99989069 0.01256954 -0.06421106] [ 0.00445241 -0.01253514 0.99991152 -1.20634405] [ 0. 0. 0. 1. ]] SLAMing on 92.04719347 meters Centerline goodness [0,1] 0.8994817556848228 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.06, Z:-1.21 [[ 0.99993891 0.00984023 -0.00503474 3.92722243] [-0.00976927 0.99985524 0.01393033 -0.06324232] [ 0.00517109 -0.01388029 0.99989029 -1.20875009] [ 0. 0. 0. 1. ]] SLAMing on 92.07719347 meters Centerline goodness [0,1] 0.9021704739606404 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.06, Z:-1.21 [[ 0.99991404 0.01185638 -0.00559774 3.92992122] [-0.01176861 0.99981121 0.01546121 -0.06227549] [ 0.00578 -0.015394 0.9998648 -1.21058279] [ 0. 0. 0. 1. ]] SLAMing on 92.10719347 meters Centerline goodness [0,1] 0.9052418504617721 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.06, Z:-1.21 [[ 0.99983682 0.01705247 -0.00596227 3.93165458] [-0.01692457 0.99963869 0.02088197 -0.06475426] [ 0.0063162 -0.02077765 0.99976417 -1.21171956] [ 0. 0. 0. 1. ]] SLAMing on 92.13719347 meters Centerline goodness [0,1] 0.9075207972636291 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.07, Z:-1.21 [[ 0.99987756 0.01439685 -0.00613174 3.93225459] [-0.01428659 0.99974195 0.0176617 -0.06504498] [ 0.00638443 -0.01757193 0.99982522 -1.21183672] [ 0. 0. 0. 1. ]] SLAMing on 92.16719347 meters Centerline goodness [0,1] 0.907915584004056 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.07, Z:-1.21 [[ 0.99991463 0.01146721 -0.00626344 3.93264668] [-0.01137613 0.99983176 0.01438897 -0.06599163] [ 0.00642739 -0.01431649 0.99987686 -1.21180518] [ 0. 0. 0. 1. ]] SLAMing on 92.19719347 meters Centerline goodness [0,1] 0.9064702520794972 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.07, Z:-1.21 [[ 0.99993429 0.00942363 -0.00652719 3.93391703] [-0.00933958 0.99987459 0.01278994 -0.07169009] [ 0.0066469 -0.01272813 0.9998969 -1.21259665] [ 0. 0. 0. 1. ]] SLAMing on 92.22719347 meters Centerline goodness [0,1] 0.9064070483840444 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.08, Z:-1.21 [[ 0.99995284 0.00673537 -0.00699652 3.93598423] [-0.00666171 0.99992271 0.01049785 -0.07502205] [ 0.00706669 -0.01045075 0.99992042 -1.21403263] [ 0. 0. 0. 1. ]] SLAMing on 92.25719347 meters Centerline goodness [0,1] 0.9063650598840408 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.08, Z:-1.21 [[ 9.99969088e-01 3.20523094e-03 -7.17984887e-03 3.93659150e+00] [-3.15138506e-03 9.99966921e-01 7.49838514e-03 -7.81589813e-02] [ 7.20364543e-03 -7.47552688e-03 9.99946111e-01 -1.21436009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28719347 meters Centerline goodness [0,1] 0.9043628765012559 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.08, Z:-1.21 [[ 9.99972485e-01 -3.00221890e-04 -7.41215592e-03 3.93756076e+00] [ 3.35396465e-04 9.99988687e-01 4.74473857e-03 -8.16601107e-02] [ 7.41064759e-03 -4.74709403e-03 9.99961273e-01 -1.21493446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31719347 meters Centerline goodness [0,1] 0.901176866881408 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.09, Z:-1.21 [[ 9.99943129e-01 -7.35644523e-03 -7.72143512e-03 3.93811901e+00] [ 7.35668095e-03 9.99972939e-01 2.12556052e-06 -9.03668646e-02] [ 7.72121054e-03 -5.89295743e-05 9.99970189e-01 -1.21479661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34719347000001 meters Centerline goodness [0,1] 0.8980436021357872 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-1.22 [[ 9.99907896e-01 -1.09931726e-02 -7.95920616e-03 3.93889524e+00] [ 1.09755524e-02 9.99937226e-01 -2.25412650e-03 -9.61319253e-02] [ 7.98348653e-03 2.16656221e-03 9.99965784e-01 -1.21517659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37719347 meters Centerline goodness [0,1] 0.8980436021357872 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-1.22 [[ 9.99907896e-01 -1.09931726e-02 -7.95920616e-03 3.93889524e+00] [ 1.09755524e-02 9.99937226e-01 -2.25412650e-03 -9.61319253e-02] [ 7.98348653e-03 2.16656221e-03 9.99965784e-01 -1.21517659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40719347 meters Centerline goodness [0,1] 0.8948274414308506 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-1.22 [[ 0.99973123 -0.02155191 -0.00854328 3.94082755] [ 0.02145883 0.99971095 -0.01084118 -0.10496233] [ 0.00877446 0.01065494 0.99990474 -1.21583946] [ 0. 0. 0. 1. ]] SLAMing on 92.43719347 meters Centerline goodness [0,1] 0.8875583007689398 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-1.22 [[ 0.9996455 -0.02514288 -0.00875873 3.94164944] [ 0.025022 0.99959373 -0.01364858 -0.10813261] [ 0.00909834 0.01342458 0.99986849 -1.21607509] [ 0. 0. 0. 1. ]] SLAMing on 92.46719347 meters Centerline goodness [0,1] 0.884831814555075 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-1.22 [[ 0.99962792 -0.02574331 -0.00901679 3.94198546] [ 0.02562609 0.99958858 -0.01288328 -0.11236339] [ 0.00934474 0.01264742 0.99987635 -1.21592272] [ 0. 0. 0. 1. ]] SLAMing on 92.49719347 meters Centerline goodness [0,1] 0.8824795341379019 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.12, Z:-1.22 [[ 0.99961428 -0.02623583 -0.00910912 3.94190034] [ 0.02612428 0.99958478 -0.01215722 -0.11661929] [ 0.00942429 0.01191456 0.99988461 -1.21556226] [ 0. 0. 0. 1. ]] SLAMing on 92.52719347 meters Centerline goodness [0,1] 0.8728850963660438 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.12, Z:-1.22 [[ 0.99951088 -0.02985701 -0.00930394 3.9424946 ] [ 0.0297133 0.99944259 -0.01521929 -0.11934095] [ 0.00975316 0.0149354 0.99984089 -1.21548604] [ 0. 0. 0. 1. ]] SLAMing on 92.55719347 meters Centerline goodness [0,1] 0.8684664227744838 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.12, Z:-1.21 [[ 0.99937395 -0.03411297 -0.00938172 3.94258161] [ 0.03394037 0.99926214 -0.01797854 -0.12431326] [ 0.0099881 0.01764887 0.99979436 -1.21499324] [ 0. 0. 0. 1. ]] SLAMing on 92.58719347 meters Centerline goodness [0,1] 0.8614212558764271 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:-1.22 [[ 0.99936402 -0.03434933 -0.00957535 3.94304272] [ 0.03417917 0.99926421 -0.01740168 -0.12672714] [ 0.01016604 0.01706334 0.99980273 -1.21508775] [ 0. 0. 0. 1. ]] SLAMing on 92.61719347 meters Centerline goodness [0,1] 0.8476232598302479 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:-1.22 [[ 0.99936056 -0.03440658 -0.00972962 3.94331501] [ 0.03423953 0.9992717 -0.0168442 -0.12861404] [ 0.01030209 0.01650029 0.99981079 -1.21502048] [ 0. 0. 0. 1. ]] SLAMing on 92.64719347 meters Centerline goodness [0,1] 0.8365308254963427 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.13, Z:-1.22 [[ 0.99934897 -0.03581754 -0.00432943 3.95381093] [ 0.03578601 0.99933389 -0.00715144 -0.13137841] [ 0.0045827 0.00699185 0.99996506 -1.21863243] [ 0. 0. 0. 1. ]] SLAMing on 92.67719347 meters Centerline goodness [0,1] 0.829387772264738 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.13, Z:-1.22 [[ 0.99934474 -0.03595035 -0.00420168 3.95342066] [ 0.0359201 0.99932968 -0.00706644 -0.13130673] [ 0.0044529 0.00691089 0.99996621 -1.21829022] [ 0. 0. 0. 1. ]] SLAMing on 92.70719347 meters Centerline goodness [0,1] 0.8405824389631582 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.13, Z:-1.22 [[ 0.99935034 -0.03577221 -0.00438755 3.95430047] [ 0.0357418 0.99933776 -0.00682369 -0.13180013] [ 0.00462874 0.00666244 0.99996709 -1.21893031] [ 0. 0. 0. 1. ]] SLAMing on 92.73719347 meters Centerline goodness [0,1] 0.8401727861771058 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.13, Z:-1.22 [[ 9.99482783e-01 -3.18156285e-02 -4.68319295e-03 3.95584136e+00] [ 3.18036938e-02 9.99490750e-01 -2.60121224e-03 -1.32369216e-01] [ 4.76356723e-03 2.45092401e-03 9.99985651e-01 -1.22062466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76719347 meters Centerline goodness [0,1] 0.8383980807273034 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.13, Z:-1.22 [[ 9.99591002e-01 -2.81991970e-02 -4.75758071e-03 3.95636291e+00] [ 2.82047761e-02 9.99601550e-01 1.10965580e-03 -1.31516962e-01] [ 4.72439365e-03 -1.24338845e-03 9.99988067e-01 -1.22141507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79719347 meters Centerline goodness [0,1] 0.8423792133652352 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.13, Z:-1.22 [[ 9.99654473e-01 -2.57234010e-02 -5.40759482e-03 3.95903856e+00] [ 2.57429275e-02 9.99662211e-01 3.57287472e-03 -1.29583710e-01] [ 5.31386171e-03 -3.71084752e-03 9.99978996e-01 -1.22343984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82719347 meters Centerline goodness [0,1] 0.8368043125776495 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.13, Z:-1.23 [[ 0.99968204 -0.02448679 -0.00601874 3.96195064] [ 0.024514 0.9996894 0.00449027 -0.12760466] [ 0.00590692 -0.00463639 0.99997181 -1.22570336] [ 0. 0. 0. 1. ]] SLAMing on 92.85719347 meters Centerline goodness [0,1] 0.8237879929665913 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.12, Z:-1.23 [[ 9.99665633e-01 -2.49135466e-02 -6.92370377e-03 3.96634584e+00] [ 2.49367895e-02 9.99683612e-01 3.29118215e-03 -1.22297036e-01] [ 6.83951817e-03 -3.46273663e-03 9.99970615e-01 -1.22910141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88719347 meters Centerline goodness [0,1] 0.8188823049058817 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.12, Z:-1.23 [[ 0.99972008 -0.0226509 -0.00683376 3.9656114 ] [ 0.02268848 0.99972761 0.00547149 -0.11958987] [ 0.00670796 -0.00562501 0.99996168 -1.22851122] [ 0. 0. 0. 1. ]] SLAMing on 92.91719347 meters Centerline goodness [0,1] 0.8281966110246815 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.12, Z:-1.23 [[ 0.99976318 -0.02079169 -0.00642544 3.96332654] [ 0.02083541 0.99975969 0.00681478 -0.11524023] [ 0.0062822 -0.00694704 0.99995614 -1.22656532] [ 0. 0. 0. 1. ]] SLAMing on 92.94719347 meters Centerline goodness [0,1] 0.8411324384226153 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.11, Z:-1.23 [[ 0.99975333 -0.02123738 -0.00649963 3.96277682] [ 0.0212688 0.99976225 0.00480367 -0.10889065] [ 0.00639607 -0.00494073 0.99996734 -1.22509502] [ 0. 0. 0. 1. ]] SLAMing on 92.97719347 meters Centerline goodness [0,1] 0.8719367256357937 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.10, Z:-1.22 [[ 9.99836099e-01 -1.74193163e-02 -4.93385117e-03 3.96006008e+00] [ 1.74320165e-02 9.99844817e-01 2.54287740e-03 -9.59424425e-02] [ 4.88879034e-03 -2.62846759e-03 9.99984595e-01 -1.22079777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00719347 meters Centerline goodness [0,1] 0.8838591296732625 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.09, Z:-1.22 [[ 0.99989051 -0.01385598 -0.00519485 3.96064344] [ 0.01388022 0.99989281 0.0046593 -0.09061186] [ 0.00512973 -0.00473089 0.99997565 -1.22072806] [ 0. 0. 0. 1. ]] SLAMing on 93.03719347 meters Centerline goodness [0,1] 0.89083079508455 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.09, Z:-1.22 [[ 0.99993571 -0.01002252 -0.00530327 3.96106501] [ 0.01006024 0.99992394 0.00713476 -0.08560768] [ 0.00523135 -0.00718766 0.99996048 -1.22098949] [ 0. 0. 0. 1. ]] SLAMing on 93.06719347 meters Centerline goodness [0,1] 0.8960708426233646 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.08, Z:-1.22 [[ 9.99981187e-01 -1.94920467e-03 -5.81595228e-03 3.96358299e+00] [ 2.02307363e-03 9.99917021e-01 1.27223609e-02 -7.58126700e-02] [ 5.79067119e-03 -1.27338877e-02 9.99902153e-01 -1.22289309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09719347000001 meters Centerline goodness [0,1] 0.8971488469601677 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.07, Z:-1.22 [[ 9.99979997e-01 1.56905213e-03 -6.12726901e-03 3.96454322e+00] [-1.47365195e-03 9.99878109e-01 1.55433681e-02 -7.20837500e-02] [ 6.15091051e-03 -1.55340277e-02 9.99860420e-01 -1.22338822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12719347 meters Centerline goodness [0,1] 0.8980516348230951 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.07, Z:-1.22 [[ 9.99977313e-01 1.52836566e-03 -6.56033619e-03 3.96566682e+00] [-1.43221522e-03 9.99891861e-01 1.46360872e-02 -6.84647450e-02] [ 6.58199606e-03 -1.46263593e-02 9.99871365e-01 -1.22371512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15719347 meters Centerline goodness [0,1] 0.8970285810215302 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.07, Z:-1.22 [[ 9.99974953e-01 1.29909424e-03 -6.95746970e-03 3.96705042e+00] [-1.20095227e-03 9.99899987e-01 1.40916337e-02 -6.68868981e-02] [ 6.97508022e-03 -1.40829252e-02 9.99876502e-01 -1.22457459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18719347 meters Centerline goodness [0,1] 0.8965958965958966 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.07, Z:-1.23 [[ 9.99972231e-01 1.41337159e-03 -7.31706420e-03 3.96858194e+00] [-1.31203604e-03 9.99903424e-01 1.38355334e-02 -6.58180485e-02] [ 7.33591229e-03 -1.38255490e-02 9.99877512e-01 -1.22559720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21719347 meters Centerline goodness [0,1] 0.8978669748870443 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.06, Z:-1.23 [[ 9.99970079e-01 1.81747822e-03 -7.51921154e-03 3.96927489e+00] [-1.71444708e-03 9.99904870e-01 1.36862153e-02 -6.45900311e-02] [ 7.54337063e-03 -1.36729145e-02 9.99878067e-01 -1.22580413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24719347 meters Centerline goodness [0,1] 0.9023480865503446 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.06, Z:-1.23 [[ 9.99960588e-01 3.32866223e-03 -8.23054777e-03 3.97178251e+00] [-3.20841421e-03 9.99888555e-01 1.45802568e-02 -6.38983300e-02] [ 8.27816327e-03 -1.45532751e-02 9.99859827e-01 -1.22705745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27719347 meters Centerline goodness [0,1] 0.9030679742130573 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.06, Z:-1.23 [[ 0.99995531 0.00423799 -0.00845108 3.97275341] [-0.00411272 0.99988223 0.01478583 -0.06300171] [ 0.00851275 -0.01475041 0.99985497 -1.22753985] [ 0. 0. 0. 1. ]] SLAMing on 93.30719347 meters Centerline goodness [0,1] 0.9072732236994099 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.06, Z:-1.23 [[ 0.99994532 0.00616142 -0.0084494 3.97312362] [-0.00602553 0.99985359 0.0160151 -0.06414866] [ 0.00854683 -0.01596331 0.99983605 -1.22744701] [ 0. 0. 0. 1. ]] SLAMing on 93.33719347 meters Centerline goodness [0,1] 0.9052049283379432 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.06, Z:-1.23 [[ 9.99959153e-01 2.79417007e-03 -8.59562577e-03 3.97356202e+00] [-2.68828678e-03 9.99920674e-01 1.23052643e-02 -6.38778453e-02] [ 8.62932691e-03 -1.22816542e-02 9.99887341e-01 -1.22741769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36719347 meters Centerline goodness [0,1] 0.9032285027687807 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.06, Z:-1.23 [[ 9.99960470e-01 -1.15928183e-03 -8.81561429e-03 3.97425927e+00] [ 1.23457190e-03 9.99962772e-01 8.53989581e-03 -6.43081467e-02] [ 8.80538596e-03 -8.55044173e-03 9.99924675e-01 -1.22763780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39719347 meters Centerline goodness [0,1] 0.8939299123904881 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.07, Z:-1.23 [[ 9.99912126e-01 -9.21348703e-03 -9.53162726e-03 3.97703854e+00] [ 9.23556404e-03 9.99954764e-01 2.27476656e-03 -6.86502555e-02] [ 9.51023756e-03 -2.36259662e-03 9.99951986e-01 -1.22972299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42719347 meters Centerline goodness [0,1] 0.8904987228340522 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.07, Z:-1.23 [[ 9.99863333e-01 -1.34151058e-02 -9.66179346e-03 3.97783628e+00] [ 1.34070412e-02 9.99909717e-01 -8.98979864e-04 -7.22002731e-02] [ 9.67298108e-03 7.69320940e-04 9.99952920e-01 -1.23040889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45719347 meters Centerline goodness [0,1] 0.8893295561850802 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 9.99797913e-01 -1.75220389e-02 -9.85451856e-03 3.97884472e+00] [ 1.74823134e-02 9.99838754e-01 -4.10300823e-03 -7.56366610e-02] [ 9.92482263e-03 3.92989928e-03 9.99943025e-01 -1.23111938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48719347 meters Centerline goodness [0,1] 0.8857724259461274 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 0.9996255 -0.02552786 -0.00985849 3.97961784] [ 0.02541664 0.99961367 -0.01124756 -0.07897579] [ 0.01014181 0.01099278 0.99988815 -1.23163659] [ 0. 0. 0. 1. ]] SLAMing on 93.51719347 meters Centerline goodness [0,1] 0.8830627513911177 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 0.99961559 -0.02581114 -0.0101222 3.98047908] [ 0.02569995 0.99960957 -0.01096449 -0.08023621] [ 0.01040125 0.01070013 0.99988865 -1.23212091] [ 0. 0. 0. 1. ]] SLAMing on 93.54719347 meters Centerline goodness [0,1] 0.8842811757032548 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 0.99961407 -0.02577262 -0.01036741 3.98085648] [ 0.02566194 0.99961372 -0.01067124 -0.08067983] [ 0.01063843 0.01040108 0.99988931 -1.2320065 ] [ 0. 0. 0. 1. ]] SLAMing on 93.57719347 meters Centerline goodness [0,1] 0.8762472544712896 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 0.99969593 -0.02219149 -0.01075146 3.98141553] [ 0.02212515 0.99973567 -0.00625023 -0.08280279] [ 0.01088732 0.00601045 0.99992267 -1.23211029] [ 0. 0. 0. 1. ]] SLAMing on 93.60719347 meters Centerline goodness [0,1] 0.8845668363697564 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 9.99771401e-01 -1.85506898e-02 -1.06309376e-02 3.97999412e+00] [ 1.85273835e-02 9.99825739e-01 -2.28662415e-03 -8.40066097e-02] [ 1.06715035e-02 2.08913798e-03 9.99940876e-01 -1.23067461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63719347 meters Centerline goodness [0,1] 0.8846859238881247 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 9.99777591e-01 -1.79831678e-02 -1.10170189e-02 3.98080685e+00] [ 1.79624410e-02 9.99836707e-01 -1.97742417e-03 -8.38667084e-02] [ 1.10507802e-02 1.77909183e-03 9.99937356e-01 -1.23059349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66719347 meters Centerline goodness [0,1] 0.8924599831508003 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:-1.23 [[ 9.99784465e-01 -1.74729912e-02 -1.12123868e-02 3.98111127e+00] [ 1.74557614e-02 9.99846304e-01 -1.63270944e-03 -8.40773426e-02] [ 1.12391918e-02 1.43663678e-03 9.99935806e-01 -1.23041117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69719347 meters Centerline goodness [0,1] 0.8919952109895188 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.09, Z:-1.23 [[ 9.99791797e-01 -1.67936419e-02 -1.15903895e-02 3.98233000e+00] [ 1.67838976e-02 9.99858701e-01 -9.37489213e-04 -8.51556199e-02] [ 1.16044957e-02 7.42762113e-04 9.99932390e-01 -1.23099764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72719347 meters Centerline goodness [0,1] 0.8967717639182375 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.23 [[ 9.99821532e-01 -1.44678401e-02 -1.21485181e-02 3.98537588e+00] [ 1.44831109e-02 9.99894430e-01 1.16997645e-03 -8.58966823e-02] [ 1.21303086e-02 -1.34571598e-03 9.99925520e-01 -1.23335163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75719347 meters Centerline goodness [0,1] 0.8973316766000463 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.23 [[ 0.99986675 -0.01081019 -0.01223172 3.9856205 ] [ 0.01087347 0.99992778 0.00511848 -0.08622181] [ 0.01217551 -0.0052508 0.99991209 -1.23365208] [ 0. 0. 0. 1. ]] SLAMing on 93.78719347 meters Centerline goodness [0,1] 0.8958407468653842 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.23 [[ 0.99987075 -0.00959314 -0.01290155 3.9880449 ] [ 0.00967199 0.99993484 0.00606344 -0.08525459] [ 0.01284255 -0.00618744 0.99989839 -1.23497219] [ 0. 0. 0. 1. ]] SLAMing on 93.81719347 meters Centerline goodness [0,1] 0.898091048765601 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 0.99990262 -0.00517803 -0.01295906 3.98840335] [ 0.00531235 0.9999323 0.01035275 -0.08614843] [ 0.01290457 -0.01042059 0.99986243 -1.23531415] [ 0. 0. 0. 1. ]] SLAMing on 93.84719347000001 meters Centerline goodness [0,1] 0.9003868471953578 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 0.99989888 -0.00479186 -0.01338927 3.98988964] [ 0.00493198 0.99993321 0.01045196 -0.0859951 ] [ 0.01333829 -0.01051694 0.99985573 -1.23617551] [ 0. 0. 0. 1. ]] SLAMing on 93.87719347 meters Centerline goodness [0,1] 0.9011349622724327 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 0.99989756 -0.00454575 -0.01357243 3.99096708] [ 0.00468827 0.99993401 0.01048755 -0.08579992] [ 0.01352386 -0.01055011 0.99985289 -1.23705789] [ 0. 0. 0. 1. ]] SLAMing on 93.90719347 meters Centerline goodness [0,1] 0.9032581872934878 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 0.99989849 -0.00424135 -0.01360208 3.99103716] [ 0.00438362 0.99993582 0.01044689 -0.08517663] [ 0.0135569 -0.01050545 0.99985291 -1.23685739] [ 0. 0. 0. 1. ]] SLAMing on 93.93719347 meters Centerline goodness [0,1] 0.9013743096834029 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 0.99989589 -0.00449211 -0.01371267 3.99096807] [ 0.00463348 0.99993626 0.01029568 -0.08518783] [ 0.01366555 -0.01035814 0.99985297 -1.23645741] [ 0. 0. 0. 1. ]] SLAMing on 93.96719347 meters Centerline goodness [0,1] 0.9018688654960969 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.08, Z:-1.24 [[ 0.99987218 -0.00711135 -0.01431953 3.99301416] [ 0.00721823 0.99994637 0.00742606 -0.08440974] [ 0.01426595 -0.00752847 0.99986989 -1.23726572] [ 0. 0. 0. 1. ]] SLAMing on 93.99719347 meters Centerline goodness [0,1] 0.9003836263226677 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 0.99986753 -0.00760202 -0.01439196 3.99282566] [ 0.00770771 0.99994363 0.00730246 -0.08536096] [ 0.01433563 -0.00741242 0.99986976 -1.23680915] [ 0. 0. 0. 1. ]] SLAMing on 94.02719347 meters Centerline goodness [0,1] 0.900896383125431 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 9.99803282e-01 -1.32040322e-02 -1.48003873e-02 3.99411059e+00] [ 1.32291282e-02 9.99911213e-01 1.59900775e-03 -8.62776094e-02] [ 1.47779599e-02 -1.79448942e-03 9.99889190e-01 -1.23682074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05719347 meters Centerline goodness [0,1] 0.9014748397368751 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 9.99801417e-01 -1.33576778e-02 -1.47884839e-02 3.99358228e+00] [ 1.33883649e-02 9.99908415e-01 1.97800657e-03 -8.81557219e-02] [ 1.47607080e-02 -2.17560739e-03 9.99888688e-01 -1.23611578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08719347 meters Centerline goodness [0,1] 0.9027666988538562 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 9.99796786e-01 -1.36681524e-02 -1.48178382e-02 3.99301945e+00] [ 1.37024995e-02 9.99903654e-01 2.21891149e-03 -8.97935043e-02] [ 1.47860822e-02 -2.42150200e-03 9.99887748e-01 -1.23525084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11719347 meters Centerline goodness [0,1] 0.9007386888273314 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 9.99783980e-01 -1.45092303e-02 -1.48820219e-02 3.99317961e+00] [ 1.45465894e-02 9.99891300e-01 2.40517740e-03 -9.22725020e-02] [ 1.48455070e-02 -2.62114050e-03 9.99886364e-01 -1.23536472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14719347 meters Centerline goodness [0,1] 0.898805281911549 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:-1.24 [[ 9.99779438e-01 -1.46373204e-02 -1.50606948e-02 3.99408983e+00] [ 1.46831515e-02 9.99887883e-01 2.93702760e-03 -9.47558766e-02] [ 1.50160160e-02 -3.15751826e-03 9.99882268e-01 -1.23611633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17719347 meters Centerline goodness [0,1] 0.8978138978138979 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.10, Z:-1.24 [[ 9.99778291e-01 -1.47243881e-02 -1.50519675e-02 3.99420665e+00] [ 1.47783259e-02 9.99884744e-01 3.47850588e-03 -9.77575758e-02] [ 1.49990138e-02 -3.70017754e-03 9.99880662e-01 -1.23629017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20719347 meters Centerline goodness [0,1] 0.8998786915418724 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.10, Z:-1.24 [[ 9.99731999e-01 -1.71789269e-02 -1.55182040e-02 3.99635259e+00] [ 1.71960141e-02 9.99851669e-01 9.68336246e-04 -9.88600409e-02] [ 1.54992672e-02 -1.23492799e-03 9.99879117e-01 -1.23754780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23719347 meters Centerline goodness [0,1] 0.903809883062995 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.10, Z:-1.24 [[ 9.99736770e-01 -1.65630025e-02 -1.58763048e-02 3.99772877e+00] [ 1.65954803e-02 9.99860450e-01 1.91611427e-03 -1.00382076e-01] [ 1.58423527e-02 -2.17908479e-03 9.99872128e-01 -1.23844148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26719347 meters Centerline goodness [0,1] 0.903809883062995 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.10, Z:-1.24 [[ 9.99736770e-01 -1.65630025e-02 -1.58763048e-02 3.99772877e+00] [ 1.65954803e-02 9.99860450e-01 1.91611427e-03 -1.00382076e-01] [ 1.58423527e-02 -2.17908479e-03 9.99872128e-01 -1.23844148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29719347 meters Centerline goodness [0,1] 0.9029571362470029 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.10, Z:-1.24 [[ 9.99735598e-01 -1.62210115e-02 -1.62976597e-02 3.99890606e+00] [ 1.62611029e-02 9.99865064e-01 2.33044421e-03 -1.00460115e-01] [ 1.62576584e-02 -2.59484595e-03 9.99864468e-01 -1.23891541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32719347 meters Centerline goodness [0,1] 0.9046245209114265 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.10, Z:-1.24 [[ 9.99734736e-01 -1.58358817e-02 -1.67237329e-02 4.00028466e+00] [ 1.58885827e-02 9.99869198e-01 3.02311245e-03 -1.01821422e-01] [ 1.66736718e-02 -3.28802694e-03 9.99855578e-01 -1.23966385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35719347 meters Centerline goodness [0,1] 0.9058122517248589 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.11, Z:-1.24 [[ 9.99685358e-01 -1.78040942e-02 -1.76691690e-02 4.00469763e+00] [ 1.78399904e-02 9.99839095e-01 1.87602405e-03 -1.06808238e-01] [ 1.76329250e-02 -2.19065158e-03 9.99842128e-01 -1.24292580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38719347 meters Centerline goodness [0,1] 0.9046124022840768 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.24 [[ 9.99680207e-01 -1.77385194e-02 -1.80230122e-02 4.00598208e+00] [ 1.77862893e-02 9.99838702e-01 2.49365273e-03 -1.08557871e-01] [ 1.79758715e-02 -2.81341778e-03 9.99834463e-01 -1.24379795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41719347 meters Centerline goodness [0,1] 0.902056231640789 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.25 [[ 9.99678330e-01 -1.70621191e-02 -1.87648961e-02 4.00864900e+00] [ 1.71347526e-02 9.99846281e-01 3.71675146e-03 -1.10177904e-01] [ 1.86985959e-02 -4.03708775e-03 9.99817015e-01 -1.24540283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44719347 meters Centerline goodness [0,1] 0.8982907964340661 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.25 [[ 0.99967539 -0.01713083 -0.01885871 4.00881157] [ 0.017216 0.99984227 0.00436296 -0.11209216] [ 0.018781 -0.00468621 0.99981264 -1.24535453] [ 0. 0. 0. 1. ]] SLAMing on 94.47719347 meters Centerline goodness [0,1] 0.9000885851683118 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.24 [[ 0.99967636 -0.01704397 -0.01888611 4.00862787] [ 0.01713143 0.99984321 0.00447889 -0.11225025] [ 0.01880681 -0.00480099 0.99981161 -1.24489174] [ 0. 0. 0. 1. ]] SLAMing on 94.50719347 meters Centerline goodness [0,1] 0.9027366475542394 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.24 [[ 0.99967672 -0.01674254 -0.01913462 4.00899191] [ 0.01683098 0.99984836 0.00447039 -0.11143497] [ 0.01905688 -0.004791 0.99980692 -1.24454036] [ 0. 0. 0. 1. ]] SLAMing on 94.53719347 meters Centerline goodness [0,1] 0.9101974857814434 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.24 [[ 0.99968341 -0.01587014 -0.01952489 4.00971624] [ 0.01596142 0.99986235 0.00452828 -0.10951066] [ 0.01945033 -0.00483849 0.99979912 -1.24422253] [ 0. 0. 0. 1. ]] SLAMing on 94.56719347 meters Centerline goodness [0,1] 0.9133057312792922 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.11, Z:-1.24 [[ 9.99898927e-01 -6.45903467e-03 -1.26655881e-02 3.99880417e+00] [ 6.50989129e-03 9.99970897e-01 3.97822985e-03 -1.05489142e-01] [ 1.26395240e-02 -4.06027936e-03 9.99911874e-01 -1.24473290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59719347000001 meters Centerline goodness [0,1] 0.9178394906592946 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.24 [[ 9.99953904e-01 -1.58051937e-03 -9.47060660e-03 4.00624670e+00] [ 1.56789786e-03 9.99997873e-01 -1.33997939e-03 -1.02882873e-01] [ 9.47270432e-03 1.32506868e-03 9.99954255e-01 -1.24364247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62719347 meters Centerline goodness [0,1] 0.9204241816967268 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.24 [[ 9.99955106e-01 -1.79444454e-04 -9.47385706e-03 4.00696138e+00] [ 1.69991993e-04 9.99999487e-01 -9.98537333e-04 -1.00268151e-01] [ 9.47403138e-03 9.96882025e-04 9.99954623e-01 -1.24407011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65719347 meters Centerline goodness [0,1] 0.9218371607515657 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.24 [[ 9.99950392e-01 3.71505473e-03 -9.24186974e-03 4.00569332e+00] [-3.69551069e-03 9.99990901e-01 2.13090686e-03 -9.79534955e-02] [ 9.24970208e-03 -2.09664772e-03 9.99955023e-01 -1.24280720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68719347 meters Centerline goodness [0,1] 0.9216518232229878 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.24 [[ 9.99949739e-01 3.55675104e-03 -9.37386458e-03 4.00553064e+00] [-3.53950840e-03 9.99992015e-01 1.85538552e-03 -9.80499534e-02] [ 9.38038887e-03 -1.82211340e-03 9.99954343e-01 -1.24222474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71719347 meters Centerline goodness [0,1] 0.9187598198386928 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.24 [[ 9.99951123e-01 1.68108435e-03 -9.74294925e-03 4.00749391e+00] [-1.68362456e-03 9.99998551e-01 -2.52526534e-04 -9.83398982e-02] [ 9.74251062e-03 2.68917660e-04 9.99952504e-01 -1.24346900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74719347 meters Centerline goodness [0,1] 0.9209043086172345 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.24 [[ 9.99945058e-01 1.90432133e-03 -1.03080271e-02 4.00921137e+00] [-1.89922956e-03 9.99998070e-01 5.03728712e-04 -1.00716697e-01] [ 1.03089665e-02 -4.84123726e-04 9.99946744e-01 -1.24435334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77719347 meters Centerline goodness [0,1] 0.9203686946274122 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.24 [[ 9.99941422e-01 2.10139801e-03 -1.06177195e-02 4.00989035e+00] [-2.09396215e-03 9.99997555e-01 7.11394459e-04 -1.00650654e-01] [ 1.06191885e-02 -6.89119684e-04 9.99943377e-01 -1.24440950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80719347 meters Centerline goodness [0,1] 0.9204214583464254 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.25 [[ 9.99933214e-01 2.82763352e-03 -1.12058544e-02 4.01195480e+00] [-2.81046357e-03 9.99994853e-01 1.54768114e-03 -1.01210922e-01] [ 1.12101730e-02 -1.51608414e-03 9.99936015e-01 -1.24551880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83719347 meters Centerline goodness [0,1] 0.9213123666931538 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-1.25 [[ 9.99928818e-01 2.98355797e-03 -1.15524142e-02 4.01314226e+00] [-2.96066155e-03 9.99993620e-01 1.99855451e-03 -1.02667837e-01] [ 1.15583033e-02 -1.96420946e-03 9.99931271e-01 -1.24616935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86719347 meters Centerline goodness [0,1] 0.9202566835977509 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.25 [[ 9.99930872e-01 6.89137292e-04 -1.17378544e-02 4.01463485e+00] [-6.81992742e-04 9.99999580e-01 6.12667844e-04 -1.09138414e-01] [ 1.17382717e-02 -6.04620359e-04 9.99930921e-01 -1.24757718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89719347 meters Centerline goodness [0,1] 0.9194384403920005 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-1.25 [[ 9.99934551e-01 -3.98748152e-04 -1.14338878e-02 4.01363998e+00] [ 4.00271571e-04 9.99999911e-01 1.30949081e-04 -1.13471310e-01] [ 1.14338346e-02 -1.35517170e-04 9.99934622e-01 -1.24697450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92719347 meters Centerline goodness [0,1] 0.9174741062479118 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-1.25 [[ 9.99924991e-01 -2.91211764e-03 -1.18966829e-02 4.01557590e+00] [ 2.89036178e-03 9.99994120e-01 -1.84551796e-03 -1.16824427e-01] [ 1.19019873e-02 1.81099382e-03 9.99927529e-01 -1.24814829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95719347 meters Centerline goodness [0,1] 0.9129431992116244 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.12, Z:-1.25 [[ 9.99905084e-01 -6.31651640e-03 -1.22443593e-02 4.01602639e+00] [ 6.27824912e-03 9.99975295e-01 -3.16122186e-03 -1.24468872e-01] [ 1.22640247e-02 3.08404867e-03 9.99920038e-01 -1.24785621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98719347 meters Centerline goodness [0,1] 0.9089356498271064 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.13, Z:-1.25 [[ 9.99899752e-01 -6.96624106e-03 -1.23270647e-02 4.01549200e+00] [ 6.93733932e-03 9.99973090e-01 -2.38578545e-03 -1.29360959e-01] [ 1.23433529e-02 2.30002925e-03 9.99921173e-01 -1.24699902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01719347 meters Centerline goodness [0,1] 0.9062473864681776 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.14, Z:-1.25 [[ 0.99991944 -0.01084315 -0.00659839 4.02670147] [ 0.01087052 0.9999324 0.0041268 -0.13517687] [ 0.00655319 -0.0041982 0.99996971 -1.25032523] [ 0. 0. 0. 1. ]] SLAMing on 95.04719347 meters Centerline goodness [0,1] 0.9028182905588316 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.14, Z:-1.25 [[ 9.99873301e-01 -1.44090933e-02 -6.76462473e-03 4.02680959e+00] [ 1.44179666e-02 9.99895256e-01 1.26478937e-03 -1.38229202e-01] [ 6.74569171e-03 -1.36216126e-03 9.99976320e-01 -1.24980081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07719347 meters Centerline goodness [0,1] 0.8994195670850533 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.14, Z:-1.25 [[ 9.99799744e-01 -1.87782446e-02 -6.91736208e-03 4.02737595e+00] [ 1.87703873e-02 9.99823102e-01 -1.19906209e-03 -1.43923004e-01] [ 6.93865469e-03 1.06898041e-03 9.99975356e-01 -1.25000326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10719347 meters Centerline goodness [0,1] 0.8966250052602786 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99788425e-01 -1.92909188e-02 -7.13908432e-03 4.02838103e+00] [ 1.92876701e-02 9.99813838e-01 -5.23626475e-04 -1.47797267e-01] [ 7.14785653e-03 3.85819386e-04 9.99974379e-01 -1.25087096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13719347 meters Centerline goodness [0,1] 0.8948762136942541 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99779074e-01 -1.96266582e-02 -7.52307569e-03 4.03029143e+00] [ 1.96286826e-02 9.99807320e-01 1.95352281e-04 -1.51793357e-01] [ 7.51779203e-03 -3.42977188e-04 9.99971682e-01 -1.25248963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16719347 meters Centerline goodness [0,1] 0.8917594841303074 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99773769e-01 -1.97527536e-02 -7.88925420e-03 4.03195847e+00] [ 1.97597376e-02 9.99804431e-01 8.08284644e-04 -1.54443617e-01] [ 7.87174546e-03 -9.63991378e-04 9.99968553e-01 -1.25381651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19719347 meters Centerline goodness [0,1] 0.8894947673077327 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99758784e-01 -2.03909347e-02 -8.15987845e-03 4.03298133e+00] [ 2.03955292e-02 9.99791874e-01 4.80228889e-04 -1.53481195e-01] [ 8.14838785e-03 -6.46538089e-04 9.99966592e-01 -1.25438908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22719347 meters Centerline goodness [0,1] 0.8895542529414245 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99750755e-01 -2.06669569e-02 -8.44423952e-03 4.03327127e+00] [ 2.06686535e-02 9.99786374e-01 1.13700071e-04 -1.51854110e-01] [ 8.44008578e-03 -2.88202793e-04 9.99964340e-01 -1.25399761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25719347 meters Centerline goodness [0,1] 0.8867332859472342 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99737308e-01 -2.11077482e-02 -8.93188091e-03 4.03390593e+00] [ 2.11053828e-02 9.99777192e-01 -3.59019385e-04 -1.50729054e-01] [ 8.93746891e-03 1.70414308e-04 9.99960046e-01 -1.25350613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28719347 meters Centerline goodness [0,1] 0.8837354799691352 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99734182e-01 -2.11059731e-02 -9.27918390e-03 4.03461099e+00] [ 2.11025371e-02 9.99777207e-01 -4.68050106e-04 -1.50204580e-01] [ 9.28699522e-03 2.72111367e-04 9.99956838e-01 -1.25347364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31719347 meters Centerline goodness [0,1] 0.889828899343868 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.15, Z:-1.25 [[ 9.99741262e-01 -2.07408820e-02 -9.33943975e-03 4.03437879e+00] [ 2.07363321e-02 9.99784809e-01 -5.83743090e-04 -1.49613811e-01] [ 9.34953733e-03 3.89926329e-04 9.99956216e-01 -1.25284212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34719347000001 meters Centerline goodness [0,1] 0.8940738559892328 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.15, Z:-1.25 [[ 9.99759706e-01 -1.95189998e-02 -9.97687684e-03 4.03658878e+00] [ 1.95235369e-02 9.99809334e-01 3.57564421e-04 -1.48705471e-01] [ 9.96799528e-03 -5.52262423e-04 9.99950166e-01 -1.25396430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37719347 meters Centerline goodness [0,1] 0.8940141510424321 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.15, Z:-1.25 [[ 9.99778203e-01 -1.81980509e-02 -1.06007264e-02 4.03794451e+00] [ 1.82089687e-02 9.99833766e-01 9.34302794e-04 -1.45651834e-01] [ 1.05819617e-02 -1.12712386e-03 9.99943374e-01 -1.25403725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40719347 meters Centerline goodness [0,1] 0.9005136806793165 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:-1.25 [[ 0.99984182 -0.01415629 -0.0107673 4.03784266] [ 0.01420231 0.99989028 0.00421001 -0.14267773] [ 0.01070652 -0.00436226 0.99993317 -1.25343218] [ 0. 0. 0. 1. ]] SLAMing on 95.43719347 meters Centerline goodness [0,1] 0.9067555108540776 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:-1.25 [[ 9.99952571e-01 -1.65825584e-03 -9.59716225e-03 4.04092226e+00] [ 1.71881809e-03 9.99978642e-01 6.30562924e-03 -1.35825711e-01] [ 9.58650093e-03 -6.32182595e-03 9.99934065e-01 -1.24746959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46719347 meters Centerline goodness [0,1] 0.9080363147276396 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-1.25 [[ 9.99950990e-01 2.58120277e-03 -9.55799832e-03 4.04031924e+00] [-2.48804175e-03 9.99949411e-01 9.74601303e-03 -1.33853945e-01] [ 9.58267123e-03 -9.72175467e-03 9.99906826e-01 -1.24656918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49719347 meters Centerline goodness [0,1] 0.9128894293261772 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-1.25 [[ 9.99947550e-01 3.42804028e-03 -9.65124086e-03 4.04055186e+00] [-3.33682267e-03 9.99949764e-01 9.45167742e-03 -1.31570142e-01] [ 9.68315676e-03 -9.41897719e-03 9.99908756e-01 -1.24629552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52719347 meters Centerline goodness [0,1] 0.9183839989957528 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-1.25 [[ 0.99994261 0.00457713 -0.00968617 4.04154049] [-0.00448541 0.9999451 0.0094698 -0.12923575] [ 0.00972898 -0.00942581 0.99990825 -1.24720547] [ 0. 0. 0. 1. ]] SLAMing on 95.55719347 meters Centerline goodness [0,1] 0.9161887957653286 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-1.25 [[ 0.99993958 0.00449383 -0.01003232 4.04304415] [-0.00440101 0.99994748 0.00925543 -0.12842813] [ 0.01007338 -0.00921071 0.99990684 -1.24837875] [ 0. 0. 0. 1. ]] SLAMing on 95.58719347 meters Centerline goodness [0,1] 0.9143504436659604 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.13, Z:-1.25 [[ 9.99941370e-01 1.90711457e-03 -1.06592864e-02 4.04616686e+00] [-1.83939423e-03 9.99978087e-01 6.35937434e-03 -1.27376788e-01] [ 1.06711809e-02 -6.33939486e-03 9.99922966e-01 -1.25073706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61719347 meters Centerline goodness [0,1] 0.9118797308662742 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.13, Z:-1.25 [[ 9.99938088e-01 -1.71156489e-03 -1.09950586e-02 4.04786178e+00] [ 1.74121020e-03 9.99994873e-01 2.68723325e-03 -1.27333697e-01] [ 1.09904028e-02 -2.70621159e-03 9.99935942e-01 -1.25210653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64719347 meters Centerline goodness [0,1] 0.9074942683465494 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.13, Z:-1.25 [[ 9.99920689e-01 -5.69449408e-03 -1.12333916e-02 4.04915061e+00] [ 5.69632307e-03 9.99983767e-01 1.30828481e-04 -1.32132815e-01] [ 1.12324642e-02 -1.94807133e-04 9.99936895e-01 -1.25330415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67719347 meters Centerline goodness [0,1] 0.9045222969998113 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.14, Z:-1.25 [[ 9.99914301e-01 -6.27685628e-03 -1.14887909e-02 4.04927659e+00] [ 6.28559248e-03 9.99979983e-01 7.24460428e-04 -1.35672115e-01] [ 1.14840136e-02 -7.96612200e-04 9.99933739e-01 -1.25275399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70719347 meters Centerline goodness [0,1] 0.9036725116795509 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.14, Z:-1.25 [[ 9.99912175e-01 -6.54427565e-03 -1.15245636e-02 4.04881006e+00] [ 6.56168356e-03 9.99977387e-01 1.47334134e-03 -1.38888209e-01] [ 1.15146610e-02 -1.54883249e-03 9.99932505e-01 -1.25192416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73719347 meters Centerline goodness [0,1] 0.9029769162847412 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.14, Z:-1.25 [[ 9.99907396e-01 -6.79549871e-03 -1.17907215e-02 4.04922469e+00] [ 6.82009029e-03 9.99974648e-01 2.04671878e-03 -1.41376118e-01] [ 1.17765141e-02 -2.12694303e-03 9.99928392e-01 -1.25181033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76719347 meters Centerline goodness [0,1] 0.8976892128157058 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.15, Z:-1.26 [[ 9.99871496e-01 -9.58389636e-03 -1.28506746e-02 4.05348998e+00] [ 9.59417083e-03 9.99953702e-01 7.38116841e-04 -1.46067716e-01] [ 1.28430056e-02 -8.61313558e-04 9.99917154e-01 -1.25520933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79719347 meters Centerline goodness [0,1] 0.8953130560381821 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.15, Z:-1.26 [[ 9.99845275e-01 -1.13075276e-02 -1.34746624e-02 4.05662115e+00] [ 1.13009738e-02 9.99935984e-01 -5.62423727e-04 -1.47618758e-01] [ 1.34801594e-02 4.10059899e-04 9.99909054e-01 -1.25749412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82719347 meters Centerline goodness [0,1] 0.8951332926547015 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.15, Z:-1.26 [[ 9.99842123e-01 -1.13220544e-02 -1.36945004e-02 4.05710202e+00] [ 1.13212684e-02 9.99935903e-01 -1.34921995e-04 -1.49099418e-01] [ 1.36951502e-02 -2.01384205e-05 9.99906217e-01 -1.25760283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85719347 meters Centerline goodness [0,1] 0.8956254956797596 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.15, Z:-1.26 [[ 9.99853046e-01 -1.53932740e-02 -7.54539250e-03 4.06941949e+00] [ 1.54213827e-02 9.99874306e-01 3.68135384e-03 -1.52833020e-01] [ 7.48777600e-03 -3.79717323e-03 9.99964757e-01 -1.26091421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88719347 meters Centerline goodness [0,1] 0.8960108889121559 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 9.99851372e-01 -1.55243441e-02 -7.49861344e-03 4.06892258e+00] [ 1.55550064e-02 9.99870819e-01 4.04819030e-03 -1.55175202e-01] [ 7.43479926e-03 -4.16422960e-03 9.99963691e-01 -1.26032676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91719347 meters Centerline goodness [0,1] 0.8953669088923426 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99984882 -0.0156715 -0.00753261 4.0688486 ] [ 0.0157061 0.99986627 0.00455739 -0.15770699] [ 0.00746019 -0.00467501 0.99996124 -1.26012428] [ 0. 0. 0. 1. ]] SLAMing on 95.94719347 meters Centerline goodness [0,1] 0.8944425760887843 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99984503 -0.01574693 -0.00787118 4.07023482] [ 0.01578798 0.99986194 0.00517992 -0.15982187] [ 0.00778853 -0.00530339 0.99995561 -1.26118058] [ 0. 0. 0. 1. ]] SLAMing on 95.97719347 meters Centerline goodness [0,1] 0.8900374151816856 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99982439 -0.01702544 -0.00783119 4.07041682] [ 0.01706544 0.99984153 0.00506862 -0.16152826] [ 0.00774366 -0.00520137 0.99995649 -1.26154512] [ 0. 0. 0. 1. ]] SLAMing on 96.00719347 meters Centerline goodness [0,1] 0.8601568610870347 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99981935 -0.01721002 -0.00806686 4.07087413] [ 0.01725406 0.99983644 0.00542204 -0.16261508] [ 0.00797223 -0.00556025 0.99995276 -1.26148092] [ 0. 0. 0. 1. ]] SLAMing on 96.03719347 meters Centerline goodness [0,1] 0.8831286660758746 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99981349 -0.0173463 -0.00849097 4.07184755] [ 0.01739524 0.9998323 0.00572473 -0.16358017] [ 0.00839025 -0.00587137 0.99994756 -1.26167906] [ 0. 0. 0. 1. ]] SLAMing on 96.06719347 meters Centerline goodness [0,1] 0.870454065469905 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.9998116 -0.01735986 -0.00868325 4.07225603] [ 0.01741262 0.99983015 0.00603837 -0.1647886 ] [ 0.00857695 -0.00618843 0.99994407 -1.26170011] [ 0. 0. 0. 1. ]] SLAMing on 96.09719347000001 meters Centerline goodness [0,1] 0.8790824915824915 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.17, Z:-1.26 [[ 9.99753781e-01 -2.03982101e-02 -8.73449232e-03 4.07199453e+00] [ 2.04219369e-02 9.99787976e-01 2.63591327e-03 -1.66023137e-01] [ 8.67887249e-03 -2.81363950e-03 9.99958379e-01 -1.26059500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12719347 meters Centerline goodness [0,1] 0.8860202836342213 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.17, Z:-1.26 [[ 9.99764130e-01 -1.97853343e-02 -8.95684341e-03 4.07239878e+00] [ 1.98145097e-02 9.99798615e-01 3.18039243e-03 -1.66500164e-01] [ 8.89211450e-03 -3.35711773e-03 9.99954829e-01 -1.26046909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15719347 meters Centerline goodness [0,1] 0.8860236801078667 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.17, Z:-1.26 [[ 0.99982601 -0.01618711 -0.00926929 4.07305695] [ 0.01625075 0.99984461 0.00683182 -0.16592289] [ 0.00915726 -0.00698127 0.9999337 -1.26076689] [ 0. 0. 0. 1. ]] SLAMing on 96.18719347 meters Centerline goodness [0,1] 0.8860236801078667 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.17, Z:-1.26 [[ 0.99982601 -0.01618711 -0.00926929 4.07305695] [ 0.01625075 0.99984461 0.00683182 -0.16592289] [ 0.00915726 -0.00698127 0.9999337 -1.26076689] [ 0. 0. 0. 1. ]] SLAMing on 96.21719347 meters Centerline goodness [0,1] 0.8879061028899538 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99991737 -0.00869945 -0.00946435 4.07312334] [ 0.00882736 0.99986912 0.01355786 -0.16062668] [ 0.00934516 -0.01364029 0.9998633 -1.26046749] [ 0. 0. 0. 1. ]] SLAMing on 96.24719347 meters Centerline goodness [0,1] 0.895915318083293 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99992047 -0.00783567 -0.00988224 4.07374277] [ 0.00796872 0.99987716 0.01349646 -0.15827126] [ 0.00977527 -0.01357414 0.99986008 -1.25994744] [ 0. 0. 0. 1. ]] SLAMing on 96.27719347 meters Centerline goodness [0,1] 0.8960702006032865 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.9999241 -0.00695741 -0.01016772 4.07446849] [ 0.00709617 0.9998813 0.01367569 -0.15743232] [ 0.01007136 -0.01374681 0.99985479 -1.26005419] [ 0. 0. 0. 1. ]] SLAMing on 96.30719347 meters Centerline goodness [0,1] 0.8979932403886777 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-1.26 [[ 0.99992714 -0.00654954 -0.01014001 4.07453158] [ 0.00668586 0.99988695 0.01346835 -0.15669811] [ 0.01005065 -0.01353517 0.99985788 -1.26008442] [ 0. 0. 0. 1. ]] SLAMing on 96.33719347 meters Centerline goodness [0,1] 0.9025760338720158 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.15, Z:-1.26 [[ 9.99983617e-01 -2.25229697e-03 -5.26235097e-03 4.08148493e+00] [ 2.28897992e-03 9.99973053e-01 6.97523614e-03 -1.51500218e-01] [ 5.24649886e-03 -6.98716728e-03 9.99961826e-01 -1.26034616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36719347 meters Centerline goodness [0,1] 0.9047449311219676 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.15, Z:-1.26 [[ 9.99984102e-01 -1.90970998e-03 -5.30545298e-03 4.08164544e+00] [ 1.94209138e-03 9.99979478e-01 6.10498726e-03 -1.46650994e-01] [ 5.29368535e-03 -6.11519388e-03 9.99967290e-01 -1.26019349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39719347 meters Centerline goodness [0,1] 0.9074823371559152 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.14, Z:-1.26 [[ 9.99983087e-01 1.72396617e-03 -5.55457625e-03 4.08259359e+00] [-1.67254423e-03 9.99955829e-01 9.24896452e-03 -1.43877862e-01] [ 5.57027580e-03 -9.23951782e-03 9.99941800e-01 -1.26078726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42719347 meters Centerline goodness [0,1] 0.9138917412351474 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:-1.26 [[ 0.99996796 0.00513028 -0.00614478 4.085435 ] [-0.00505754 0.99991764 0.01179568 -0.14140599] [ 0.00620479 -0.01176422 0.99991155 -1.26293418] [ 0. 0. 0. 1. ]] SLAMing on 96.45719347 meters Centerline goodness [0,1] 0.9152542372881356 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:-1.26 [[ 9.99973381e-01 3.11971028e-03 -6.59582624e-03 4.08799168e+00] [-3.05998718e-03 9.99954407e-01 9.04546661e-03 -1.40849559e-01] [ 6.62374476e-03 -9.02504268e-03 9.99937335e-01 -1.26493855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48719347 meters Centerline goodness [0,1] 0.9157699286829557 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:-1.27 [[ 9.99976610e-01 6.99903005e-05 -6.83923968e-03 4.08919940e+00] [-3.35275943e-05 9.99985788e-01 5.33136685e-03 -1.40088604e-01] [ 6.83951562e-03 -5.33101284e-03 9.99962400e-01 -1.26585408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51719347 meters Centerline goodness [0,1] 0.9153549091214372 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:-1.27 [[ 9.99970746e-01 1.08586990e-03 -7.57149873e-03 4.09222760e+00] [-1.03571703e-03 9.99977520e-01 6.62467980e-03 -1.42050910e-01] [ 7.57852206e-03 -6.61664407e-03 9.99949392e-01 -1.26796752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54719347 meters Centerline goodness [0,1] 0.9141838019303399 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:-1.27 [[ 9.99966504e-01 1.25543066e-03 -8.08790753e-03 4.09363793e+00] [-1.19888696e-03 9.99974836e-01 6.99220018e-03 -1.42824929e-01] [ 8.09648223e-03 -6.98226949e-03 9.99942846e-01 -1.26850721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57719347 meters Centerline goodness [0,1] 0.9127107925801012 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.14, Z:-1.27 [[ 9.99963497e-01 1.41198137e-03 -8.42676771e-03 4.09462423e+00] [-1.34817891e-03 9.99970421e-01 7.57228711e-03 -1.44618104e-01] [ 8.43721038e-03 -7.56064991e-03 9.99935823e-01 -1.26895083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60719347 meters Centerline goodness [0,1] 0.9123827589840868 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-1.27 [[ 9.99963127e-01 -1.55236630e-03 -8.44602058e-03 4.09431659e+00] [ 1.59680983e-03 9.99984902e-01 5.25787085e-03 -1.49073112e-01] [ 8.43773093e-03 -5.27116366e-03 9.99950509e-01 -1.26815863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63719347 meters Centerline goodness [0,1] 0.9109339693698217 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:-1.27 [[ 9.99950869e-01 -4.55963940e-03 -8.80166324e-03 4.09531139e+00] [ 4.58375458e-03 9.99985791e-01 2.72161894e-03 -1.52462097e-01] [ 8.78912857e-03 -2.76182989e-03 9.99957561e-01 -1.26836037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66719347 meters Centerline goodness [0,1] 0.907216061827957 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.16, Z:-1.27 [[ 9.99929348e-01 -7.85602734e-03 -8.92083617e-03 4.09582076e+00] [ 7.85726940e-03 9.99969126e-01 1.04192126e-04 -1.56654754e-01] [ 8.91974221e-03 -1.74278178e-04 9.99960203e-01 -1.26859514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69719347 meters Centerline goodness [0,1] 0.9058152650708109 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.16, Z:-1.27 [[ 9.99893649e-01 -1.13062233e-02 -9.21197980e-03 4.09699886e+00] [ 1.12842916e-02 9.99933379e-01 -2.42929105e-03 -1.60953893e-01] [ 9.23883220e-03 2.32508203e-03 9.99954618e-01 -1.26924753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72719347 meters Centerline goodness [0,1] 0.9010612588000421 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.17, Z:-1.27 [[ 0.99978426 -0.01884183 -0.00874144 4.09553143] [ 0.01877096 0.99979084 -0.00811969 -0.16750136] [ 0.0088926 0.00795386 0.99992883 -1.26798985] [ 0. 0. 0. 1. ]] SLAMing on 96.75719347 meters Centerline goodness [0,1] 0.8965949184742896 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-1.27 [[ 9.99721347e-01 -2.33772946e-02 -3.27565618e-03 4.10504325e+00] [ 2.33739411e-02 9.99726232e-01 -1.05835399e-03 -1.72682474e-01] [ 3.29950086e-03 9.81494083e-04 9.99994075e-01 -1.27049041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78719347 meters Centerline goodness [0,1] 0.8872446416610851 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.18, Z:-1.27 [[ 9.99618023e-01 -2.74248126e-02 -3.41882357e-03 4.10494554e+00] [ 2.74103027e-02 9.99615355e-01 -4.22109942e-03 -1.75496717e-01] [ 3.53327140e-03 4.12577607e-03 9.99985247e-01 -1.26958995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81719347 meters Centerline goodness [0,1] 0.8465066599648152 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-1.27 [[ 9.99352315e-01 -3.58270990e-02 -3.37188465e-03 4.10533064e+00] [ 3.57871406e-02 9.99296156e-01 -1.12460677e-02 -1.79018401e-01] [ 3.77242535e-03 1.11181137e-02 9.99931076e-01 -1.26940064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84719347000001 meters Centerline goodness [0,1] 0.8608395871434278 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-1.27 [[ 9.99331674e-01 -3.63667541e-02 -3.69664112e-03 4.10657744e+00] [ 3.63248272e-02 9.99281260e-01 -1.08383687e-02 -1.81269353e-01] [ 4.08814048e-03 1.06968453e-02 9.99934430e-01 -1.27028635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87719347 meters Centerline goodness [0,1] 0.7990542244640605 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-1.27 [[ 9.99317463e-01 -3.67218987e-02 -4.01375762e-03 4.10800007e+00] [ 3.66778287e-02 9.99271439e-01 -1.05511838e-02 -1.82812531e-01] [ 4.39829286e-03 1.03967663e-02 9.99936279e-01 -1.27139563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90719347 meters Centerline goodness [0,1] 0.8441986399126857 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-1.27 [[ 0.99931172 -0.03683364 -0.00440115 4.10948336] [ 0.03678615 0.99926881 -0.01042202 -0.18338603] [ 0.00478181 0.01025295 0.999936 -1.27240225] [ 0. 0. 0. 1. ]] SLAMing on 96.93719347 meters Centerline goodness [0,1] 0.8452796834883622 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-1.27 [[ 0.99943236 -0.03333238 -0.00489051 4.11168129] [ 0.0332974 0.9994205 -0.00706774 -0.18217493] [ 0.00512326 0.00690088 0.99996306 -1.2744855 ] [ 0. 0. 0. 1. ]] SLAMing on 96.96719347 meters Centerline goodness [0,1] 0.8463988861229483 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-1.28 [[ 9.99550259e-01 -2.95317083e-02 -5.21126382e-03 4.11244585e+00] [ 2.95141114e-02 9.99558506e-01 -3.42191894e-03 -1.80998595e-01] [ 5.31001819e-03 3.26657414e-03 9.99980566e-01 -1.27503061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99719347 meters Centerline goodness [0,1] 0.8233090574250795 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-1.28 [[ 9.99644122e-01 -2.60752153e-02 -5.63136058e-03 4.11313814e+00] [ 2.60742526e-02 9.99659979e-01 -2.44323185e-04 -1.79186459e-01] [ 5.63581658e-03 9.74027179e-05 9.99984114e-01 -1.27506723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02719347 meters Centerline goodness [0,1] 0.8624403171865469 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-1.27 [[ 9.99735152e-01 -2.23126557e-02 -5.63655608e-03 4.11185687e+00] [ 2.23262714e-02 9.99747942e-01 2.36433347e-03 -1.74522503e-01] [ 5.58238079e-03 -2.48955057e-03 9.99981319e-01 -1.27341006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05719347 meters Centerline goodness [0,1] 0.8675905511811024 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-1.27 [[ 0.99979841 -0.01922846 -0.00577946 4.11148047] [ 0.01925915 0.99980046 0.00530335 -0.17281303] [ 0.00567633 -0.00541359 0.99996924 -1.27267425] [ 0. 0. 0. 1. ]] SLAMing on 97.08719347 meters Centerline goodness [0,1] 0.8771487412264112 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-1.27 [[ 0.99983932 -0.01703031 -0.00559555 4.10959894] [ 0.01707018 0.99982868 0.00715652 -0.17004424] [ 0.00547272 -0.00725089 0.99995874 -1.27078898] [ 0. 0. 0. 1. ]] SLAMing on 97.11719347 meters Centerline goodness [0,1] 0.8867614187507907 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-1.27 [[ 0.99988225 -0.01445697 -0.0051466 4.1070685 ] [ 0.01450163 0.99985656 0.00874958 -0.16551215] [ 0.00501937 -0.00882319 0.99994848 -1.26849914] [ 0. 0. 0. 1. ]] SLAMing on 97.14719347 meters Centerline goodness [0,1] 0.8915531106305247 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-1.27 [[ 0.99988305 -0.01429607 -0.00543276 4.10787488] [ 0.01434086 0.99986274 0.00829654 -0.16359515] [ 0.0053134 -0.00837348 0.99995083 -1.26880293] [ 0. 0. 0. 1. ]] SLAMing on 97.17719347 meters Centerline goodness [0,1] 0.8939276023810024 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-1.27 [[ 0.9998854 -0.01409641 -0.00552029 4.10833025] [ 0.01413979 0.99986883 0.00789891 -0.16184496] [ 0.00540822 -0.00797606 0.99995357 -1.26914922] [ 0. 0. 0. 1. ]] SLAMing on 97.20719347 meters Centerline goodness [0,1] 0.8992145774426642 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-1.27 [[ 0.99989087 -0.01361499 -0.00573461 4.10915512] [ 0.01365739 0.9998792 0.00742067 -0.15926027] [ 0.00563289 -0.00749818 0.99995602 -1.2695608 ] [ 0. 0. 0. 1. ]] SLAMing on 97.23719347 meters Centerline goodness [0,1] 0.8965002627430373 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-1.27 [[ 0.99989279 -0.01345326 -0.00578139 4.10917027] [ 0.01349472 0.99988307 0.00719294 -0.15757305] [ 0.00568395 -0.00727019 0.99995742 -1.26936529] [ 0. 0. 0. 1. ]] SLAMing on 97.26719347 meters Centerline goodness [0,1] 0.8937911253585288 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-1.27 [[ 0.99989486 -0.01324 -0.00591316 4.10961045] [ 0.01328075 0.99988795 0.00690704 -0.1554288 ] [ 0.00582105 -0.00698485 0.99995866 -1.26953947] [ 0. 0. 0. 1. ]] SLAMing on 97.29719347 meters Centerline goodness [0,1] 0.8939859847296308 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.15, Z:-1.27 [[ 0.99990318 -0.01222855 -0.00664 4.11274305] [ 0.01227921 0.9998954 0.00764215 -0.15350143] [ 0.00654585 -0.00772294 0.99994875 -1.27169899] [ 0. 0. 0. 1. ]] SLAMing on 97.32719347 meters Centerline goodness [0,1] 0.898109640831758 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.15, Z:-1.27 [[ 0.99990346 -0.01205742 -0.00690628 4.11337893] [ 0.01210651 0.99990143 0.00711099 -0.15023411] [ 0.00681986 -0.00719391 0.99995087 -1.27179479] [ 0. 0. 0. 1. ]] SLAMing on 97.35719347 meters Centerline goodness [0,1] 0.8960962352792466 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.15, Z:-1.27 [[ 0.99990331 -0.01202371 -0.00698579 4.11327572] [ 0.01207319 0.99990202 0.00708466 -0.15028165] [ 0.00689992 -0.00716832 0.9999505 -1.27140169] [ 0. 0. 0. 1. ]] SLAMing on 97.38719347 meters Centerline goodness [0,1] 0.8948792148968294 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-1.27 [[ 0.99987364 -0.0140437 -0.00744802 4.11518364] [ 0.01407987 0.99988923 0.00482613 -0.14928915] [ 0.00737942 -0.00493039 0.99996062 -1.27243548] [ 0. 0. 0. 1. ]] SLAMing on 97.41719347 meters Centerline goodness [0,1] 0.8933526740665994 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.15, Z:-1.27 [[ 9.99850259e-01 -1.57163966e-02 -7.24258204e-03 4.11432236e+00] [ 1.57449802e-02 9.99868408e-01 3.90661998e-03 -1.49738318e-01] [ 7.18023099e-03 -4.02006931e-03 9.99966141e-01 -1.27175754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44719347 meters Centerline goodness [0,1] 0.8866432154528235 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-1.27 [[ 9.99785504e-01 -1.92096625e-02 -7.74174273e-03 4.11679258e+00] [ 1.92143152e-02 9.99815249e-01 5.27048837e-04 -1.49318967e-01] [ 7.73018801e-03 -6.75688072e-04 9.99969893e-01 -1.27339466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47719347 meters Centerline goodness [0,1] 0.8755152687810213 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-1.27 [[ 9.99765382e-01 -2.01662812e-02 -7.90576482e-03 4.11782087e+00] [ 2.01682987e-02 9.99796584e-01 1.75543035e-04 -1.50084536e-01] [ 7.90061661e-03 -3.34947676e-04 9.99968734e-01 -1.27439402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50719347 meters Centerline goodness [0,1] 0.8728060989402253 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-1.28 [[ 9.99710760e-01 -2.24749648e-02 -8.55992172e-03 4.12138468e+00] [ 2.24600731e-02 9.99746062e-01 -1.83188705e-03 -1.49236299e-01] [ 8.59891963e-03 1.63910073e-03 9.99961685e-01 -1.27727704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53719347 meters Centerline goodness [0,1] 0.8428700417865317 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-1.28 [[ 0.99964433 -0.02509418 -0.00902717 4.12408741] [ 0.02505505 0.9996763 -0.00442136 -0.14447131] [ 0.0091352 0.00419361 0.99994948 -1.27953531] [ 0. 0. 0. 1. ]] SLAMing on 97.56719347 meters Centerline goodness [0,1] 0.8365115152025959 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-1.28 [[ 9.99708122e-01 -2.23522455e-02 -9.16775526e-03 4.12405543e+00] [ 2.23418299e-02 9.99749625e-01 -1.23697533e-03 -1.44161851e-01] [ 9.19310906e-03 1.03178985e-03 9.99957210e-01 -1.27938094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59719347000001 meters Centerline goodness [0,1] 0.8323510150622135 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-1.28 [[ 9.99770140e-01 -1.93580556e-02 -9.21595147e-03 4.12386250e+00] [ 1.93777217e-02 9.99810134e-01 2.04942027e-03 -1.44150632e-01] [ 9.17452888e-03 -2.22753334e-03 9.99955432e-01 -1.27919169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62719347 meters Centerline goodness [0,1] 0.8373368640060526 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-1.28 [[ 9.99766744e-01 -1.93497412e-02 -9.59404772e-03 4.12471720e+00] [ 1.93629339e-02 9.99811696e-01 1.28410899e-03 -1.41364426e-01] [ 9.56739395e-03 -1.46957837e-03 9.99953152e-01 -1.27922463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65719347 meters Centerline goodness [0,1] 0.8572179029207817 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:-1.28 [[ 9.99821400e-01 -1.63605017e-02 -9.46056513e-03 4.12403770e+00] [ 1.63828255e-02 9.99863177e-01 2.28700165e-03 -1.32953015e-01] [ 9.42185421e-03 -2.44158398e-03 9.99952633e-01 -1.27833897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68719347 meters Centerline goodness [0,1] 0.8752393577846517 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:-1.28 [[ 0.99986981 -0.01303175 -0.00951531 4.12418822] [ 0.01307966 0.999902 0.00499041 -0.12938245] [ 0.00944934 -0.00511421 0.99994228 -1.27843595] [ 0. 0. 0. 1. ]] SLAMing on 97.71719347 meters Centerline goodness [0,1] 0.868442683415179 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:-1.28 [[ 0.99990662 -0.00972036 -0.00960534 4.12417181] [ 0.00979332 0.99992333 0.00757848 -0.12580894] [ 0.00953094 -0.00767184 0.99992515 -1.27821774] [ 0. 0. 0. 1. ]] SLAMing on 97.74719347 meters Centerline goodness [0,1] 0.889381091001139 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:-1.28 [[ 0.99994148 -0.005962 -0.00902681 4.12246304] [ 0.00603924 0.99994518 0.00855327 -0.11767041] [ 0.00897532 -0.00860728 0.99992268 -1.2760548 ] [ 0. 0. 0. 1. ]] SLAMing on 97.77719347 meters Centerline goodness [0,1] 0.8936842105263157 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.11, Z:-1.28 [[ 0.99994294 -0.00531246 -0.0092678 4.12309317] [ 0.00538553 0.99995448 0.0078766 -0.11402746] [ 0.00922553 -0.00792607 0.99992603 -1.27591563] [ 0. 0. 0. 1. ]] SLAMing on 97.80719347 meters Centerline goodness [0,1] 0.8936917607959446 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.11, Z:-1.28 [[ 0.99994622 -0.00478825 -0.00919893 4.12318534] [ 0.00485452 0.99996233 0.00719545 -0.11034433] [ 0.00916413 -0.00723972 0.9999318 -1.27583241] [ 0. 0. 0. 1. ]] SLAMing on 97.83719347 meters Centerline goodness [0,1] 0.8959071933541715 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.11, Z:-1.28 [[ 9.99955355e-01 -1.07379158e-03 -9.38802139e-03 4.12388311e+00] [ 1.17256508e-03 9.99943954e-01 1.05220603e-02 -1.08167765e-01] [ 9.37619673e-03 -1.05325986e-02 9.99900571e-01 -1.27626360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86719347 meters Centerline goodness [0,1] 0.8975716787273993 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.10, Z:-1.28 [[ 9.99950284e-01 2.98644622e-03 -9.51369568e-03 4.12458169e+00] [-2.85784686e-03 9.99904755e-01 1.35023232e-02 -1.03199987e-01] [ 9.55311352e-03 -1.34744632e-02 9.99863579e-01 -1.27674060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89719347 meters Centerline goodness [0,1] 0.8964800268828496 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-1.28 [[ 9.99945597e-01 3.50034209e-03 -9.82603924e-03 4.12566036e+00] [-3.36853159e-03 9.99904555e-01 1.33990575e-02 -1.01325623e-01] [ 9.87200268e-03 -1.33652292e-02 9.99861948e-01 -1.27722157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92719347 meters Centerline goodness [0,1] 0.897440734452619 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-1.28 [[ 9.99943785e-01 3.63471755e-03 -9.96069950e-03 4.12601504e+00] [-3.50546981e-03 9.99909837e-01 1.29626515e-02 -9.98872143e-02] [ 1.00069170e-02 -1.29270058e-02 9.99866368e-01 -1.27719190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95719347 meters Centerline goodness [0,1] 0.8976947066756574 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-1.28 [[ 0.99991618 0.00812252 -0.01008289 4.12735319] [-0.0079515 0.99982577 0.01688808 -0.09953422] [ 0.01021831 -0.01680649 0.99980655 -1.27855692] [ 0. 0. 0. 1. ]] SLAMing on 97.98719347 meters Centerline goodness [0,1] 0.8986149933797104 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-1.28 [[ 0.99990845 0.00859432 -0.01045119 4.12887352] [-0.00841933 0.99982553 0.01667383 -0.09763752] [ 0.01059267 -0.01658431 0.99980636 -1.27955815] [ 0. 0. 0. 1. ]] SLAMing on 98.01719347 meters Centerline goodness [0,1] 0.8977746142734524 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-1.28 [[ 0.9998982 0.00921988 -0.01088923 4.13092864] [-0.00903509 0.99981638 0.01689889 -0.09641962] [ 0.01104304 -0.01679878 0.99979791 -1.28103829] [ 0. 0. 0. 1. ]] SLAMing on 98.04719347 meters Centerline goodness [0,1] 0.8957250205224273 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-1.28 [[ 0.99989606 0.00891238 -0.01133284 4.13221363] [-0.00872442 0.99982535 0.01652748 -0.09517217] [ 0.01147816 -0.01642689 0.99979918 -1.28167656] [ 0. 0. 0. 1. ]] SLAMing on 98.07719347 meters Centerline goodness [0,1] 0.8957250205224273 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:-1.28 [[ 0.99989606 0.00891238 -0.01133284 4.13221363] [-0.00872442 0.99982535 0.01652748 -0.09517217] [ 0.01147816 -0.01642689 0.99979918 -1.28167656] [ 0. 0. 0. 1. ]] SLAMing on 98.10719347 meters Centerline goodness [0,1] 0.8945589012150026 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.09, Z:-1.28 [[ 0.99992156 0.00484451 -0.01154994 4.13260642] [-0.0047052 0.99991623 0.01205809 -0.09350867] [ 0.01160739 -0.0120028 0.99986059 -1.28157613] [ 0. 0. 0. 1. ]] SLAMing on 98.13719347 meters Centerline goodness [0,1] 0.8948917384906454 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.09, Z:-1.28 [[ 9.99927883e-01 9.94256654e-04 -1.19683328e-02 4.13371792e+00] [-8.97613173e-04 9.99966973e-01 8.07759760e-03 -9.31599554e-02] [ 1.19759688e-02 -8.06627214e-03 9.99895750e-01 -1.28186617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16719347 meters Centerline goodness [0,1] 0.8942311753030111 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.09, Z:-1.28 [[ 9.99922615e-01 -3.21702411e-03 -1.20173082e-02 4.13354885e+00] [ 3.26430988e-03 9.99987000e-01 3.91726546e-03 -9.32945153e-02] [ 1.20045500e-02 -3.95619054e-03 9.99920116e-01 -1.28142856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19719347 meters Centerline goodness [0,1] 0.8929306939015677 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.29 [[ 0.99990028 -0.01287759 -0.00579701 4.14365023] [ 0.01290697 0.99990391 0.00505824 -0.09661143] [ 0.00573132 -0.00513256 0.9999704 -1.28506778] [ 0. 0. 0. 1. ]] SLAMing on 98.22719347 meters Centerline goodness [0,1] 0.8914616193480547 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.28 [[ 0.99988477 -0.01406859 -0.00570278 4.14323127] [ 0.01409659 0.99988863 0.00490013 -0.09873799] [ 0.00563321 -0.00497995 0.99997173 -1.28476935] [ 0. 0. 0. 1. ]] SLAMing on 98.25719347 meters Centerline goodness [0,1] 0.8910261806549373 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.28 [[ 0.99987111 -0.01506495 -0.00555132 4.14253473] [ 0.01509166 0.99987458 0.00480209 -0.10050294] [ 0.00547828 -0.00488525 0.99997306 -1.28417974] [ 0. 0. 0. 1. ]] SLAMing on 98.28719347 meters Centerline goodness [0,1] 0.8650075732076742 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.28 [[ 9.99764216e-01 -2.10899469e-02 -5.16973768e-03 4.14050008e+00] [ 2.10884954e-02 9.99777557e-01 -3.35133442e-04 -1.01167119e-01] [ 5.17565566e-03 2.26032434e-04 9.99986581e-01 -1.28211434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31719347 meters Centerline goodness [0,1] 0.8321211096075778 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.28 [[ 9.99749090e-01 -2.18065593e-02 -5.12166061e-03 4.14055432e+00] [ 2.18049068e-02 9.99762173e-01 -3.78271481e-04 -1.02275145e-01] [ 5.12869135e-03 2.66499237e-04 9.99986813e-01 -1.28237695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34719347000001 meters Centerline goodness [0,1] 0.8271299461091657 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.28 [[ 9.99680468e-01 -2.46412814e-02 -5.63632610e-03 4.14337921e+00] [ 2.46234528e-02 9.99691640e-01 -3.21099724e-03 -1.01442351e-01] [ 5.71371117e-03 3.07118541e-03 9.99978960e-01 -1.28450228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37719347 meters Centerline goodness [0,1] 0.812392354547364 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.29 [[ 9.99668579e-01 -2.50503200e-02 -5.93403930e-03 4.14467017e+00] [ 2.50310282e-02 9.99681217e-01 -3.30330432e-03 -1.01543068e-01] [ 6.01489646e-03 3.15367443e-03 9.99976937e-01 -1.28557307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40719347 meters Centerline goodness [0,1] 0.7694986072423399 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.29 [[ 9.99642247e-01 -2.61530614e-02 -5.60314817e-03 4.14388671e+00] [ 2.61302286e-02 9.99650098e-01 -4.11017691e-03 -1.01189930e-01] [ 5.70868132e-03 3.96229494e-03 9.99975855e-01 -1.28540723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43719347 meters Centerline goodness [0,1] 0.7959442064614151 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.29 [[ 9.99716568e-01 -2.31949783e-02 -5.36432567e-03 4.14306774e+00] [ 2.31924896e-02 9.99730880e-01 -5.25687739e-04 -1.01922413e-01] [ 5.37507534e-03 4.01126675e-04 9.99985474e-01 -1.28518358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46719347 meters Centerline goodness [0,1] 0.7796160646627937 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.29 [[ 9.99774739e-01 -2.05251741e-02 -5.40257426e-03 4.14290347e+00] [ 2.05395874e-02 9.99785592e-01 2.62603552e-03 -1.01740559e-01] [ 5.34751607e-03 -2.73641062e-03 9.99981958e-01 -1.28510817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49719347 meters Centerline goodness [0,1] 0.7763005414972293 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:-1.28 [[ 9.99800486e-01 -1.94252028e-02 -4.65292895e-03 4.14046934e+00] [ 1.94441779e-02 9.99802667e-01 4.06817544e-03 -9.74802441e-02] [ 4.57298564e-03 -4.15783616e-03 9.99980900e-01 -1.28396953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52719347 meters Centerline goodness [0,1] 0.762077649527807 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.09, Z:-1.28 [[ 9.99786774e-01 -2.00800450e-02 -4.81643800e-03 4.14103044e+00] [ 2.00955488e-02 9.99792967e-01 3.19244373e-03 -9.45108533e-02] [ 4.75133642e-03 -3.28855199e-03 9.99983305e-01 -1.28424745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55719347 meters Centerline goodness [0,1] 0.7615785146615511 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.09, Z:-1.28 [[ 9.99772568e-01 -2.07667543e-02 -4.85318960e-03 4.14152293e+00] [ 2.07776751e-02 9.99781677e-01 2.21076252e-03 -9.17017896e-02] [ 4.80621967e-03 -2.31109772e-03 9.99985779e-01 -1.28476478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58719347 meters Centerline goodness [0,1] 0.723214472664838 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.09, Z:-1.29 [[ 9.99720273e-01 -2.29264341e-02 -5.80992083e-03 4.14643208e+00] [ 2.29247913e-02 9.99737131e-01 -3.49202353e-04 -8.52476523e-02] [ 5.81639955e-03 2.15913449e-04 9.99983061e-01 -1.28895195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61719347 meters Centerline goodness [0,1] 0.7296148126426911 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.08, Z:-1.29 [[ 9.99721263e-01 -2.27688045e-02 -6.24319361e-03 4.14900276e+00] [ 2.27655411e-02 9.99740655e-01 -5.93291901e-04 -8.16992196e-02] [ 6.25508302e-03 4.50996848e-04 9.99980335e-01 -1.29120081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64719347 meters Centerline goodness [0,1] 0.7145123911727248 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.08, Z:-1.29 [[ 9.99753956e-01 -2.10732891e-02 -6.92418560e-03 4.15184864e+00] [ 2.10796110e-02 9.99777446e-01 8.41288472e-04 -7.72661035e-02] [ 6.90491588e-03 -9.87040616e-04 9.99975674e-01 -1.29343446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67719347 meters Centerline goodness [0,1] 0.7437884611345641 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.07, Z:-1.29 [[ 9.99833981e-01 -1.68727149e-02 -6.87902543e-03 4.15193407e+00] [ 1.68974412e-02 9.99850918e-01 3.55230615e-03 -6.50755293e-02] [ 6.81806284e-03 -3.66795433e-03 9.99970030e-01 -1.29403481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70719347 meters Centerline goodness [0,1] 0.7428439131166863 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.06, Z:-1.29 [[ 0.99987517 -0.01426011 -0.00680377 4.15138444] [ 0.01429403 0.99988552 0.00496252 -0.05860707] [ 0.00673222 -0.00505915 0.99996454 -1.29348372] [ 0. 0. 0. 1. ]] SLAMing on 98.73719347 meters Centerline goodness [0,1] 0.7561547479484174 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.05, Z:-1.29 [[ 0.99990591 -0.01171333 -0.00713896 4.15217869] [ 0.01175789 0.99991145 0.00623307 -0.05185244] [ 0.00706532 -0.00631642 0.99995509 -1.29359991] [ 0. 0. 0. 1. ]] SLAMing on 98.76719347 meters Centerline goodness [0,1] 0.7788404820089323 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.04, Z:-1.29 [[ 0.99995342 -0.00622829 -0.00737353 4.15246097] [ 0.00628608 0.9999495 0.00784064 -0.03759332] [ 0.00732433 -0.00788662 0.99994208 -1.29192112] [ 0. 0. 0. 1. ]] SLAMing on 98.79719347 meters Centerline goodness [0,1] 0.7771370848941453 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.03, Z:-1.29 [[ 9.99964749e-01 -3.57321885e-03 -7.59818628e-03 4.15279165e+00] [ 3.64340747e-03 9.99950637e-01 9.24386083e-03 -3.09560623e-02] [ 7.56478087e-03 -9.27121827e-03 9.99928407e-01 -1.29162462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82719347 meters Centerline goodness [0,1] 0.8013654299851765 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.02, Z:-1.29 [[ 9.99968995e-01 -9.31837697e-04 -7.81922591e-03 4.15282923e+00] [ 1.01623729e-03 9.99941196e-01 1.07968332e-02 -2.46465913e-02] [ 7.80870521e-03 -1.08044446e-02 9.99911140e-01 -1.29095254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85719347 meters Centerline goodness [0,1] 0.8129457054504912 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.02, Z:-1.29 [[ 9.99966850e-01 -1.42072504e-03 -8.01744932e-03 4.15277348e+00] [ 1.49011291e-03 9.99961432e-01 8.65527974e-03 -1.73049204e-02] [ 8.00484334e-03 -8.66693972e-03 9.99930401e-01 -1.28983059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88719347 meters Centerline goodness [0,1] 0.8182392453306943 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.01, Z:-1.29 [[ 9.99964494e-01 -1.95758551e-03 -8.19620608e-03 4.15292471e+00] [ 2.01194784e-03 9.99976000e-01 6.62963774e-03 -1.11439386e-02] [ 8.18303129e-03 -6.64589269e-03 9.99944434e-01 -1.28909780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91719347 meters Centerline goodness [0,1] 0.829155255951127 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.00, Z:-1.29 [[ 9.99959410e-01 1.55582146e-03 -8.87454503e-03 4.15533460e+00] [-1.48421120e-03 9.99966335e-01 8.07006169e-03 -2.04232069e-03] [ 8.88680184e-03 -8.05656243e-03 9.99928056e-01 -1.29018304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94719347 meters Centerline goodness [0,1] 0.8623445267109927 Centerline is valid? [False, False] Translation: X:4.16, Y:0.00, Z:-1.29 [[ 9.99944215e-01 5.02740475e-03 -9.28933725e-03 4.15690804e+00] [-4.92769960e-03 9.99930342e-01 1.07251835e-02 2.06655239e-03] [ 9.34261000e-03 -1.06788101e-02 9.99899334e-01 -1.29103107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97719347 meters Centerline goodness [0,1] 0.8675008355614973 Centerline is valid? [False, False] Translation: X:4.16, Y:0.01, Z:-1.29 [[ 0.99991718 0.00859774 -0.00957714 4.15755366] [-0.00846995 0.99987561 0.01330512 0.00684242] [ 0.00969035 -0.01322291 0.99986562 -1.29082725] [ 0. 0. 0. 1. ]] SLAMing on 99.00719347 meters Centerline goodness [0,1] 0.8925826894330168 Centerline is valid? [False, False] Translation: X:4.16, Y:0.01, Z:-1.29 [[ 0.99987977 0.01208951 -0.00970983 4.15726592] [-0.01193739 0.99980745 0.01557449 0.01216316] [ 0.00989625 -0.01545671 0.99983156 -1.28962032] [ 0. 0. 0. 1. ]] SLAMing on 99.03719347 meters Centerline goodness [0,1] 0.9034623303500147 Centerline is valid? [False, False] Translation: X:4.16, Y:0.02, Z:-1.29 [[ 0.99975755 0.01974082 -0.00975407 4.15752442] [-0.01953164 0.99958668 0.02109479 0.02025134] [ 0.01016647 -0.02089916 0.9997299 -1.28879047] [ 0. 0. 0. 1. ]] SLAMing on 99.06719347 meters Centerline goodness [0,1] 0.9077304116029637 Centerline is valid? [False, False] Translation: X:4.16, Y:0.02, Z:-1.29 [[ 0.99974429 0.02020404 -0.01015662 4.15913761] [-0.01999386 0.99959223 0.02038655 0.02423627] [ 0.01056437 -0.02017826 0.99974058 -1.28952487] [ 0. 0. 0. 1. ]] SLAMing on 99.09719347000001 meters Centerline goodness [0,1] 0.9101748973338059 Centerline is valid? [False, False] Translation: X:4.16, Y:0.03, Z:-1.29 [[ 0.99972497 0.02083653 -0.01076255 4.16143864] [-0.02061747 0.9995858 0.02007838 0.02715924] [ 0.01117645 -0.01985096 0.99974048 -1.29067428] [ 0. 0. 0. 1. ]] SLAMing on 99.12719347 meters Centerline goodness [0,1] 0.9128541217362173 Centerline is valid? [False, False] Translation: X:4.16, Y:0.03, Z:-1.29 [[ 0.99973093 0.02038372 -0.01107135 4.16194845] [-0.02017907 0.99962902 0.01829276 0.03321347] [ 0.01144012 -0.01806443 0.99977137 -1.29015999] [ 0. 0. 0. 1. ]] SLAMing on 99.15719347 meters Centerline goodness [0,1] 0.9111707593264412 Centerline is valid? [False, False] Translation: X:4.16, Y:0.04, Z:-1.29 [[ 0.99980047 0.01636979 -0.01144806 4.16246298] [-0.01621618 0.99977892 0.01338438 0.03691976] [ 0.01166463 -0.01319607 0.99984489 -1.28963818] [ 0. 0. 0. 1. ]] SLAMing on 99.18719347 meters Centerline goodness [0,1] 0.9110070749270464 Centerline is valid? [False, False] Translation: X:4.16, Y:0.04, Z:-1.29 [[ 0.99985497 0.01218435 -0.01189887 4.16321901] [-0.01208149 0.99988936 0.00867786 0.03914423] [ 0.01200329 -0.00853284 0.99989155 -1.28940322] [ 0. 0. 0. 1. ]] SLAMing on 99.21719347 meters Centerline goodness [0,1] 0.9090584729043362 Centerline is valid? [False, False] Translation: X:4.16, Y:0.04, Z:-1.29 [[ 9.99892330e-01 7.94138474e-03 -1.23394605e-02 4.16417052e+00] [-7.89148888e-03 9.99960509e-01 4.08704464e-03 4.08789601e-02] [ 1.23714300e-02 -3.98922787e-03 9.99915513e-01 -1.28947631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24719347 meters Centerline goodness [0,1] 0.9073953086471791 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-1.29 [[ 9.99910290e-01 3.85998181e-03 -1.28262566e-02 4.16534464e+00] [-3.86377192e-03 9.99992499e-01 -2.70729108e-04 4.24833034e-02] [ 1.28251154e-02 3.20262551e-04 9.99917704e-01 -1.28969375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27719347 meters Centerline goodness [0,1] 0.9005917904809871 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.29 [[ 9.99957259e-01 -2.72011681e-03 -8.83640287e-03 4.17710347e+00] [ 2.76285046e-03 9.99984531e-01 4.82748914e-03 4.25415488e-02] [ 8.82313484e-03 -4.85169647e-03 9.99949305e-01 -1.29388320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30719347 meters Centerline goodness [0,1] 0.8973175716964832 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.29 [[ 9.99954575e-01 -3.94988304e-03 -8.67441191e-03 4.17586389e+00] [ 3.98413479e-03 9.99984322e-01 3.93487132e-03 4.23740340e-02] [ 8.65873363e-03 -3.96925261e-03 9.99954635e-01 -1.29280924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33719347 meters Centerline goodness [0,1] 0.8865420953180768 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.29 [[ 9.99949589e-01 -4.43571073e-03 -9.00797724e-03 4.17658095e+00] [ 4.47113623e-03 9.99982335e-01 3.91635793e-03 4.15065474e-02] [ 8.99044629e-03 -3.95643640e-03 9.99951758e-01 -1.29307538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36719347 meters Centerline goodness [0,1] 0.8859953220282349 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.29 [[ 9.99921242e-01 -8.48575248e-03 -9.24672417e-03 4.17652435e+00] [ 8.48234829e-03 9.99963941e-01 -4.07306441e-04 4.26806511e-02] [ 9.24984704e-03 3.28840427e-04 9.99957165e-01 -1.29195260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39719347 meters Centerline goodness [0,1] 0.8928706227720696 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.29 [[ 9.99919218e-01 -8.64429496e-03 -9.31845894e-03 4.17604229e+00] [ 8.63798315e-03 9.99962435e-01 -7.17380740e-04 4.35185945e-02] [ 9.32431014e-03 6.36830097e-04 9.99956325e-01 -1.29102052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42719347 meters Centerline goodness [0,1] 0.8961232813354076 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-1.29 [[ 9.99941471e-01 -6.03866182e-03 -8.97716492e-03 4.17415580e+00] [ 6.05698599e-03 9.99979625e-01 2.01541240e-03 4.36367413e-02] [ 8.96481162e-03 -2.06966900e-03 9.99957673e-01 -1.28955456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45719347 meters Centerline goodness [0,1] 0.9157452175741013 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-1.29 [[ 9.99956363e-01 -1.80114809e-03 -9.16669966e-03 4.17466838e+00] [ 1.85277800e-03 9.99982452e-01 5.62696152e-03 4.46469697e-02] [ 9.15640381e-03 -5.64369983e-03 9.99942153e-01 -1.28964296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48719347 meters Centerline goodness [0,1] 0.9200634814567323 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.29 [[ 9.99949997e-01 -3.43685329e-04 -9.99429475e-03 4.17799191e+00] [ 4.09991206e-04 9.99977917e-01 6.63308095e-03 4.48255344e-02] [ 9.99179435e-03 -6.63684685e-03 9.99928056e-01 -1.29169665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51719347 meters Centerline goodness [0,1] 0.9213386487620646 Centerline is valid? [False, False] Translation: X:4.18, Y:0.05, Z:-1.29 [[ 9.99944318e-01 1.02491972e-03 -1.05028659e-02 4.18037024e+00] [-9.47673954e-04 9.99972487e-01 7.35707125e-03 4.57819479e-02] [ 1.05101173e-02 -7.34670830e-03 9.99917778e-01 -1.29320027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54719347 meters Centerline goodness [0,1] 0.9270885757423251 Centerline is valid? [False, False] Translation: X:4.18, Y:0.05, Z:-1.29 [[ 0.99991364 0.00745226 -0.01082469 4.18263234] [-0.0073129 0.9998906 0.0128573 0.04691152] [ 0.01091933 -0.01277703 0.99985875 -1.29473887] [ 0. 0. 0. 1. ]] SLAMing on 99.57719347 meters Centerline goodness [0,1] 0.9266129705366831 Centerline is valid? [False, False] Translation: X:4.18, Y:0.05, Z:-1.30 [[ 0.9998924 0.00915284 -0.01146374 4.18462813] [-0.00899333 0.9998631 0.01388867 0.04760658] [ 0.01158929 -0.01378408 0.99983783 -1.2952007 ] [ 0. 0. 0. 1. ]] SLAMing on 99.60719347 meters Centerline goodness [0,1] 0.9260941457186512 Centerline is valid? [False, False] Translation: X:4.19, Y:0.05, Z:-1.29 [[ 0.99988046 0.01020483 -0.01161553 4.18509097] [-0.01003793 0.99984683 0.01433726 0.04796916] [ 0.01176006 -0.01421895 0.99982975 -1.29493293] [ 0. 0. 0. 1. ]] SLAMing on 99.63719347 meters Centerline goodness [0,1] 0.9224253888188314 Centerline is valid? [False, False] Translation: X:4.19, Y:0.05, Z:-1.30 [[ 0.99985625 0.01225222 -0.0117198 4.18586538] [-0.01206331 0.99979831 0.01605646 0.0453171 ] [ 0.01191416 -0.01591277 0.9998024 -1.29511917] [ 0. 0. 0. 1. ]] SLAMing on 99.66719347 meters Centerline goodness [0,1] 0.9239611520147673 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.30 [[ 0.99987669 0.00994662 -0.01215197 4.18778218] [-0.00978372 0.99986246 0.01339172 0.04412671] [ 0.0122835 -0.01327118 0.99983648 -1.29617467] [ 0. 0. 0. 1. ]] SLAMing on 99.69719347 meters Centerline goodness [0,1] 0.9238263577636092 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.30 [[ 0.99989739 0.00708979 -0.01244777 4.18902711] [-0.00696058 0.99992177 0.01039284 0.04257985] [ 0.01252048 -0.01030513 0.99986851 -1.29683525] [ 0. 0. 0. 1. ]] SLAMing on 99.72719347 meters Centerline goodness [0,1] 0.9175754768621837 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.30 [[ 9.99911130e-01 4.00376582e-03 -1.27162448e-02 4.18986871e+00] [-3.91159650e-03 9.99965961e-01 7.26477518e-03 4.11049130e-02] [ 1.27448984e-02 -7.21438874e-03 9.99892754e-01 -1.29705898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75719347 meters Centerline goodness [0,1] 0.9219911783238816 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.30 [[ 9.99916605e-01 1.31462813e-03 -1.28473957e-02 4.18995831e+00] [-1.24662306e-03 9.99985179e-01 5.29987118e-03 3.59460957e-02] [ 1.28541726e-02 -5.28341334e-03 9.99903423e-01 -1.29648652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78719347 meters Centerline goodness [0,1] 0.9200392599089504 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.30 [[ 9.99908700e-01 -1.08848939e-03 -1.34687521e-02 4.19218557e+00] [ 1.13195698e-03 9.99994175e-01 3.22008941e-03 3.29967923e-02] [ 1.34651686e-02 -3.23504146e-03 9.99904107e-01 -1.29762942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81719347 meters Centerline goodness [0,1] 0.9202585302388047 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.30 [[ 9.99899354e-01 -3.58365329e-03 -1.37273262e-02 4.19333991e+00] [ 3.61259350e-03 9.99991303e-01 2.08400267e-03 2.44979429e-02] [ 1.37197385e-02 -2.13338418e-03 9.99903604e-01 -1.29858067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84719347000001 meters Centerline goodness [0,1] 0.9200605538151005 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.30 [[ 9.99899375e-01 -4.42596660e-03 -1.34777712e-02 4.19274712e+00] [ 4.45085192e-03 9.99988444e-01 1.81696201e-03 1.97302225e-02] [ 1.34695737e-02 -1.87676674e-03 9.99907520e-01 -1.29826050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87719347 meters Centerline goodness [0,1] 0.9175580540086161 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.30 [[ 9.99897167e-01 -4.95419936e-03 -1.34577556e-02 4.19257902e+00] [ 4.98493610e-03 9.99985041e-01 2.25135842e-03 1.47644545e-02] [ 1.34464006e-02 -2.31821296e-03 9.99906906e-01 -1.29813633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90719347 meters Centerline goodness [0,1] 0.920728126834997 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.30 [[ 9.99871821e-01 -8.40256884e-03 -1.36285683e-02 4.19242832e+00] [ 8.39563795e-03 9.99964596e-01 -5.65690568e-04 1.17732136e-02] [ 1.36328391e-02 4.51197533e-04 9.99906967e-01 -1.29729633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93719347 meters Centerline goodness [0,1] 0.9239654120468747 Centerline is valid? [False, False] Translation: X:4.19, Y:0.00, Z:-1.29 [[ 9.99837971e-01 -1.23309968e-02 -1.31140504e-02 4.18913829e+00] [ 1.23003531e-02 9.99921432e-01 -2.41480601e-03 3.26930114e-03] [ 1.31427970e-02 2.25310729e-03 9.99911091e-01 -1.29418023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96719347 meters Centerline goodness [0,1] 0.924608190091001 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.00, Z:-1.29 [[ 9.99789184e-01 -1.56755101e-02 -1.32614740e-02 4.18955370e+00] [ 1.56109769e-02 9.99865860e-01 -4.95582221e-03 -1.19438704e-03] [ 1.33373801e-02 4.74775288e-03 9.99899782e-01 -1.29413394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99719347 meters Centerline goodness [0,1] 0.924608190091001 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.00, Z:-1.29 [[ 9.99789184e-01 -1.56755101e-02 -1.32614740e-02 4.18955370e+00] [ 1.56109769e-02 9.99865860e-01 -4.95582221e-03 -1.19438704e-03] [ 1.33373801e-02 4.74775288e-03 9.99899782e-01 -1.29413394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02719347 meters Centerline goodness [0,1] 0.9251682085786375 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.01, Z:-1.30 [[ 0.99973376 -0.01865557 -0.01357898 4.19104034] [ 0.01856308 0.99980384 -0.00690604 -0.0063505 ] [ 0.01370515 0.00665214 0.99988395 -1.2951803 ] [ 0. 0. 0. 1. ]] SLAMing on 100.05719347 meters Centerline goodness [0,1] 0.9257364503616732 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.01, Z:-1.30 [[ 0.99967332 -0.02147862 -0.01385363 4.19272808] [ 0.02135796 0.99973317 -0.00879947 -0.01112175] [ 0.01403893 0.00850071 0.99986531 -1.29649302] [ 0. 0. 0. 1. ]] SLAMing on 100.08719347 meters Centerline goodness [0,1] 0.9251352660056001 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.02, Z:-1.30 [[ 0.99959979 -0.0245358 -0.01408051 4.19351774] [ 0.02440639 0.99965895 -0.00929024 -0.02049364] [ 0.01430365 0.00894287 0.99985771 -1.29740992] [ 0. 0. 0. 1. ]] SLAMing on 100.11719347 meters Centerline goodness [0,1] 0.9252177563228041 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.03, Z:-1.30 [[ 0.99959327 -0.02456767 -0.01448157 4.19438899] [ 0.02445988 0.99967212 -0.00757412 -0.02658035] [ 0.0146629 0.00721682 0.99986645 -1.29787106] [ 0. 0. 0. 1. ]] SLAMing on 100.14719347 meters Centerline goodness [0,1] 0.9267918016918479 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.03, Z:-1.30 [[ 0.9995037 -0.02785574 -0.01471091 4.19510602] [ 0.02771206 0.9995671 -0.00988202 -0.03098559] [ 0.01497982 0.00946945 0.99984295 -1.29797101] [ 0. 0. 0. 1. ]] SLAMing on 100.17719347 meters Centerline goodness [0,1] 0.9254252989725451 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.04, Z:-1.30 [[ 0.99933362 -0.03358002 -0.01430734 4.19362425] [ 0.03338297 0.99934741 -0.01379576 -0.03979554] [ 0.01476127 0.01330895 0.99980247 -1.29639095] [ 0. 0. 0. 1. ]] SLAMing on 100.20719347 meters Centerline goodness [0,1] 0.9206763122476447 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.05, Z:-1.30 [[ 0.99932952 -0.03362638 -0.01448356 4.19419796] [ 0.03344928 0.99936471 -0.01230127 -0.04571053] [ 0.014888 0.01180856 0.99981944 -1.29690424] [ 0. 0. 0. 1. ]] SLAMing on 100.23719347 meters Centerline goodness [0,1] 0.9078562869216054 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.05, Z:-1.30 [[ 0.99931813 -0.03380571 -0.01484768 4.19525584] [ 0.03364359 0.99937296 -0.01103622 -0.05104589] [ 0.01521145 0.01052917 0.99982886 -1.29763778] [ 0. 0. 0. 1. ]] SLAMing on 100.26719347 meters Centerline goodness [0,1] 0.8949120603015075 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.06, Z:-1.30 [[ 0.99930847 -0.03389908 -0.01527867 4.19689483] [ 0.03375393 0.99938349 -0.00965992 -0.05602227] [ 0.01559671 0.00913752 0.99983661 -1.29900614] [ 0. 0. 0. 1. ]] SLAMing on 100.29719347 meters Centerline goodness [0,1] 0.8352125439946048 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.06, Z:-1.30 [[ 0.99914588 -0.0382465 -0.01564319 4.19830404] [ 0.03805856 0.99920176 -0.01214014 -0.06110817] [ 0.01609502 0.01153442 0.99980393 -1.30002824] [ 0. 0. 0. 1. ]] SLAMing on 100.32719347 meters Centerline goodness [0,1] 0.8089205318814784 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.06, Z:-1.30 [[ 9.99065977e-01 -4.18753021e-02 -1.06598768e-02 4.20953217e+00] [ 4.18334632e-02 9.99116110e-01 -4.11817393e-03 -6.46742467e-02] [ 1.08229044e-02 3.66838790e-03 9.99934702e-01 -1.30393643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35719347 meters Centerline goodness [0,1] 0.7853716017170271 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.07, Z:-1.30 [[ 9.99037685e-01 -4.25244485e-02 -1.07413290e-02 4.20941737e+00] [ 4.24856812e-02 9.99089803e-01 -3.81204009e-03 -6.69975687e-02] [ 1.08936572e-02 3.35201902e-03 9.99935044e-01 -1.30365587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38719347 meters Centerline goodness [0,1] 0.7604610636376997 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.07, Z:-1.30 [[ 9.99006065e-01 -4.32298336e-02 -1.08657365e-02 4.20974554e+00] [ 4.31913490e-02 9.99059773e-01 -3.75199717e-03 -6.86052570e-02] [ 1.10177184e-02 3.27896212e-03 9.99933927e-01 -1.30382284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41719347 meters Centerline goodness [0,1] 0.7255781915337731 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.07, Z:-1.30 [[ 0.9989424 -0.04466554 -0.01091162 4.20940753] [ 0.04461334 0.99899191 -0.00498144 -0.06645066] [ 0.01112312 0.00448937 0.99992806 -1.30326389] [ 0. 0. 0. 1. ]] SLAMing on 100.44719347 meters Centerline goodness [0,1] 0.7214522699592625 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.06, Z:-1.30 [[ 9.99070835e-01 -4.16719527e-02 -1.09961530e-02 4.20926320e+00] [ 4.16538098e-02 9.99130346e-01 -1.87392253e-03 -6.49475881e-02] [ 1.10646802e-02 1.41414968e-03 9.99937785e-01 -1.30338187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47719347 meters Centerline goodness [0,1] 0.7205271330843162 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.06, Z:-1.30 [[ 9.99202863e-01 -3.83184792e-02 -1.11952199e-02 4.20955430e+00] [ 3.83367287e-02 9.99263868e-01 1.42001375e-03 -6.34242063e-02] [ 1.11325659e-02 -1.84806991e-03 9.99936323e-01 -1.30371753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50719347 meters Centerline goodness [0,1] 0.7356149957877001 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.06, Z:-1.30 [[ 9.99328274e-01 -3.49420054e-02 -1.10479034e-02 4.20871067e+00] [ 3.49791722e-02 9.99382954e-01 3.18895911e-03 -5.77302533e-02] [ 1.09296577e-02 -3.57326352e-03 9.99933885e-01 -1.30311622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53719347 meters Centerline goodness [0,1] 0.8342263968564164 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.05, Z:-1.30 [[ 0.9994341 -0.03170945 -0.01122445 4.20855964] [ 0.03177514 0.99947865 0.00572371 -0.05435787] [ 0.0110371 -0.00607713 0.99992062 -1.30276993] [ 0. 0. 0. 1. ]] SLAMing on 100.56719347 meters Centerline goodness [0,1] 0.749525696698849 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.05, Z:-1.30 [[ 0.99952773 -0.02864275 -0.01113124 4.20747668] [ 0.02873223 0.99955542 0.00796336 -0.04989205] [ 0.0108982 -0.00827943 0.99990634 -1.30183864] [ 0. 0. 0. 1. ]] SLAMing on 100.59719347 meters Centerline goodness [0,1] 0.7543992910494999 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.05, Z:-1.30 [[ 0.9996045 -0.02578549 -0.01122247 4.20682641] [ 0.02589883 0.99961381 0.01007405 -0.04538755] [ 0.01095838 -0.01036072 0.99988628 -1.30100038] [ 0. 0. 0. 1. ]] SLAMing on 100.62719347 meters Centerline goodness [0,1] 0.7597922755082732 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.04, Z:-1.30 [[ 0.99966373 -0.02326537 -0.01145187 4.20739743] [ 0.02339189 0.9996654 0.01104141 -0.03760888] [ 0.01119115 -0.01130558 0.99987346 -1.30128367] [ 0. 0. 0. 1. ]] SLAMing on 100.65719347 meters Centerline goodness [0,1] 0.7664590561384441 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.03, Z:-1.30 [[ 0.99966493 -0.02291794 -0.01203313 4.20938311] [ 0.02304599 0.99967807 0.01061283 -0.03460522] [ 0.01178603 -0.01088659 0.99987128 -1.30234464] [ 0. 0. 0. 1. ]] SLAMing on 100.68719347 meters Centerline goodness [0,1] 0.7695049587989852 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.03, Z:-1.30 [[ 0.99966298 -0.02286167 -0.01229917 4.21016745] [ 0.02298201 0.9996885 0.00973345 -0.0309832 ] [ 0.01207282 -0.01001283 0.99987699 -1.30256427] [ 0. 0. 0. 1. ]] SLAMing on 100.71719347 meters Centerline goodness [0,1] 0.7788402676630148 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.02, Z:-1.30 [[ 0.99972282 -0.01994935 -0.01250232 4.2099933 ] [ 0.02009128 0.99973394 0.01133112 -0.02361116] [ 0.01227295 -0.01157917 0.99985764 -1.30204812] [ 0. 0. 0. 1. ]] SLAMing on 100.74719347 meters Centerline goodness [0,1] 0.7795042156388637 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.02, Z:-1.30 [[ 0.99971495 -0.01993399 -0.01313967 4.21151956] [ 0.02007199 0.99974387 0.01045521 -0.0193961 ] [ 0.01292789 -0.01071597 0.99985901 -1.30236425] [ 0. 0. 0. 1. ]] SLAMing on 100.77719347 meters Centerline goodness [0,1] 0.8804492389537462 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.02, Z:-1.30 [[ 0.9997104 -0.01999925 -0.01338476 4.21243502] [ 0.02012919 0.99975087 0.00964481 -0.01594318] [ 0.01318853 -0.00991144 0.9998639 -1.30286494] [ 0. 0. 0. 1. ]] SLAMing on 100.80719347 meters Centerline goodness [0,1] 0.8943755676178005 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.01, Z:-1.30 [[ 0.99970389 -0.01986831 -0.01404897 4.21459674] [ 0.01999562 0.99975974 0.00897999 -0.01273007] [ 0.01386718 -0.00925825 0.99986098 -1.3040461 ] [ 0. 0. 0. 1. ]] SLAMing on 100.83719347 meters Centerline goodness [0,1] 0.8997596255218656 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.31 [[ 0.99976047 -0.01605002 -0.01487945 4.21807127] [ 0.01621974 0.99980395 0.01135675 -0.00661861] [ 0.01469426 -0.01159537 0.9998248 -1.30663745] [ 0. 0. 0. 1. ]] SLAMing on 100.86719347 meters Centerline goodness [0,1] 0.9115683623457833 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.00, Z:-1.31 [[ 9.99760703e-01 -1.58343818e-02 -1.50933555e-02 4.21834343e+00] [ 1.59893864e-02 9.99820083e-01 1.02049717e-02 -1.53191805e-03] [ 1.49290505e-02 -1.04438632e-02 9.99834011e-01 -1.30602617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89719347 meters Centerline goodness [0,1] 0.9194885752262801 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.31 [[ 9.99807035e-01 -1.22116206e-02 -1.53872767e-02 4.21874724e+00] [ 1.24128918e-02 9.99837750e-01 1.30534645e-02 2.05188823e-03] [ 1.52253762e-02 -1.32419463e-02 9.99796399e-01 -1.30586207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92719347 meters Centerline goodness [0,1] 0.9170468162038302 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.31 [[ 0.99983846 -0.00863373 -0.01576426 4.21929887] [ 0.00888436 0.99983414 0.01589855 0.00568304] [ 0.01562439 -0.01603603 0.99974933 -1.3056856 ] [ 0. 0. 0. 1. ]] SLAMing on 100.95719347 meters Centerline goodness [0,1] 0.9172853267155987 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.31 [[ 0.99985527 -0.00491484 -0.01628727 4.22029054] [ 0.00521132 0.99982058 0.01821121 0.01192973] [ 0.01619484 -0.01829346 0.99970149 -1.30558942] [ 0. 0. 0. 1. ]] SLAMing on 100.98719347 meters Centerline goodness [0,1] 0.9172505207347094 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.31 [[ 0.99984722 -0.00521344 -0.01668414 4.22136982] [ 0.00550409 0.99983306 0.0174228 0.01431099] [ 0.01659052 -0.01751197 0.999709 -1.30596751] [ 0. 0. 0. 1. ]] SLAMing on 101.01719347 meters Centerline goodness [0,1] 0.9202015516950581 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-1.31 [[ 0.99981709 -0.00906484 -0.01684079 4.22178802] [ 0.00927874 0.99987672 0.01266724 0.01746249] [ 0.01672389 -0.01282118 0.99977794 -1.30567659] [ 0. 0. 0. 1. ]] SLAMing on 101.04719347 meters Centerline goodness [0,1] 0.918707067301614 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-1.30 [[ 0.99976402 -0.0138593 -0.01672766 4.22011222] [ 0.01398404 0.99987511 0.00736288 0.01903821] [ 0.01662352 -0.00759507 0.99983297 -1.3032536 ] [ 0. 0. 0. 1. ]] SLAMing on 101.07719347 meters Centerline goodness [0,1] 0.9114638150970403 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-1.30 [[ 0.99974547 -0.01512265 -0.01674217 4.218726 ] [ 0.0152299 0.99986419 0.00629704 0.0190965 ] [ 0.01664467 -0.00655042 0.99984001 -1.30142662] [ 0. 0. 0. 1. ]] SLAMing on 101.10719347 meters Centerline goodness [0,1] 0.91607090597433 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-1.30 [[ 9.99685082e-01 -1.81996200e-02 -1.72774577e-02 4.22043736e+00] [ 1.82536975e-02 9.99828954e-01 2.97741085e-03 2.03420545e-02] [ 1.72203147e-02 -3.29185070e-03 9.99846300e-01 -1.30183080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13719347 meters Centerline goodness [0,1] 0.9144117647058824 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-1.30 [[ 9.99678619e-01 -1.83407788e-02 -1.75006941e-02 4.22072613e+00] [ 1.83971067e-02 9.99826067e-01 3.06304684e-03 1.98841229e-02] [ 1.74414715e-02 -3.38402457e-03 9.99842159e-01 -1.30164872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16719347 meters Centerline goodness [0,1] 0.9074952061866531 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-1.30 [[ 9.99683641e-01 -1.76698148e-02 -1.78996099e-02 4.22270615e+00] [ 1.77424281e-02 9.99834961e-01 3.90603738e-03 1.86073642e-02] [ 1.78276368e-02 -4.22238421e-03 9.99832159e-01 -1.30326510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19719347 meters Centerline goodness [0,1] 0.913475684082216 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-1.30 [[ 0.99968674 -0.01680258 -0.01855003 4.22498794] [ 0.01689692 0.99984503 0.00494049 0.01712017] [ 0.01846415 -0.00525239 0.99981573 -1.30455354] [ 0. 0. 0. 1. ]] SLAMing on 101.22719347 meters Centerline goodness [0,1] 0.9109580384226491 Centerline is valid? [False, False] Translation: X:4.23, Y:0.02, Z:-1.30 [[ 0.99968951 -0.01652278 -0.01865167 4.2251053 ] [ 0.0166256 0.99984736 0.00537084 0.01581385] [ 0.01856008 -0.00567927 0.99981162 -1.30436429] [ 0. 0. 0. 1. ]] SLAMing on 101.25719347 meters Centerline goodness [0,1] 0.9097828143725164 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.30 [[ 0.99968652 -0.01662783 -0.0187181 4.22480094] [ 0.01673452 0.99984452 0.00555768 0.01438431] [ 0.01862278 -0.00586918 0.99980935 -1.30366161] [ 0. 0. 0. 1. ]] SLAMing on 101.28719347 meters Centerline goodness [0,1] 0.9066621718427373 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.30 [[ 0.99967032 -0.01812283 -0.01818806 4.22166074] [ 0.01821615 0.99982168 0.00497856 0.01027055] [ 0.01809459 -0.00530824 0.99982219 -1.30070825] [ 0. 0. 0. 1. ]] SLAMing on 101.31719347 meters Centerline goodness [0,1] 0.901362765128378 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.30 [[ 0.99966186 -0.01854363 -0.01822898 4.22153345] [ 0.01864664 0.99981102 0.00549752 0.00710572] [ 0.01812359 -0.00583557 0.99981872 -1.30053018] [ 0. 0. 0. 1. ]] SLAMing on 101.34719347 meters Centerline goodness [0,1] 0.8924006799722974 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.30 [[ 9.99588716e-01 -2.18652224e-02 -1.85556319e-02 4.22307092e+00] [ 2.19196798e-02 9.99755990e-01 2.73650267e-03 4.67995513e-03] [ 1.84912699e-02 -3.14211070e-03 9.99824085e-01 -1.30142740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37719347 meters Centerline goodness [0,1] 0.8616390547472879 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.00, Z:-1.30 [[ 9.99493149e-01 -2.58092090e-02 -1.86368124e-02 4.22401858e+00] [ 2.58279858e-02 9.99666107e-01 7.67477179e-04 -1.91210722e-03] [ 1.86107817e-02 -1.24843951e-03 9.99826025e-01 -1.30266210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40719347 meters Centerline goodness [0,1] 0.8395943765844665 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.30 [[ 9.99484999e-01 -2.59155081e-02 -1.89241268e-02 4.22472734e+00] [ 2.59531113e-02 9.99661640e-01 1.74412961e-03 -5.42481148e-03] [ 1.88725237e-02 -2.23437135e-03 9.99819401e-01 -1.30301802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43719347 meters Centerline goodness [0,1] 0.8207064351036161 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.30 [[ 9.99478343e-01 -2.61542955e-02 -1.89471631e-02 4.22451064e+00] [ 2.62032849e-02 9.99653892e-01 2.34190221e-03 -8.19687133e-03] [ 1.88793545e-02 -2.83715846e-03 9.99817744e-01 -1.30272319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46719347 meters Centerline goodness [0,1] 0.8121914484143586 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.30 [[ 9.99472159e-01 -2.61294117e-02 -1.93043432e-02 4.22534708e+00] [ 2.61932788e-02 9.99652205e-01 3.06298614e-03 -1.06945942e-02] [ 1.92175953e-02 -3.56701341e-03 9.99808962e-01 -1.30300180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49719347 meters Centerline goodness [0,1] 0.7863843361104699 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.30 [[ 9.99460159e-01 -2.64369810e-02 -1.95058330e-02 4.22634177e+00] [ 2.65193279e-02 9.99640397e-01 3.97509004e-03 -1.46465348e-02] [ 1.93937293e-02 -4.49022571e-03 9.99801841e-01 -1.30405785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52719347 meters Centerline goodness [0,1] 0.7678653757491931 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.31 [[ 0.9994609 -0.02614127 -0.01986323 4.22833213] [ 0.0262466 0.99964269 0.00506035 -0.01732076] [ 0.01972385 -0.00557896 0.9997899 -1.30582167] [ 0. 0. 0. 1. ]] SLAMing on 101.55719347 meters Centerline goodness [0,1] 0.7824859352283023 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.31 [[ 0.9994572 -0.0262091 -0.01995982 4.22911598] [ 0.02632545 0.9996378 0.00558888 -0.01950194] [ 0.01980611 -0.0061113 0.99978516 -1.30665908] [ 0. 0. 0. 1. ]] SLAMing on 101.58719347 meters Centerline goodness [0,1] 0.7461003372681282 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.31 [[ 0.99944877 -0.02633258 -0.02021779 4.23040054] [ 0.02646296 0.99963051 0.00620848 -0.02266902] [ 0.02004683 -0.00674008 0.99977632 -1.3077895 ] [ 0. 0. 0. 1. ]] SLAMing on 101.61719347 meters Centerline goodness [0,1] 0.7697477929247172 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.31 [[ 0.99945012 -0.02625378 -0.0202535 4.23042311] [ 0.02638238 0.99963326 0.00610847 -0.02194455] [ 0.0200857 -0.00663944 0.99977622 -1.30758641] [ 0. 0. 0. 1. ]] SLAMing on 101.64719347 meters Centerline goodness [0,1] 0.7647653764301818 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.31 [[ 0.99945598 -0.02598706 -0.02030799 4.2301461 ] [ 0.02610844 0.99964267 0.00573468 -0.01950206] [ 0.0201517 -0.00626177 0.99977732 -1.3067901 ] [ 0. 0. 0. 1. ]] SLAMing on 101.67719347 meters Centerline goodness [0,1] 0.8465849239455611 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.30 [[ 0.99956972 -0.02127351 -0.0201944 4.22901334] [ 0.02144956 0.99973344 0.00854154 -0.01459608] [ 0.02000731 -0.00897102 0.99975959 -1.30496229] [ 0. 0. 0. 1. ]] SLAMing on 101.70719347 meters Centerline goodness [0,1] 0.8573978788196996 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.31 [[ 0.99959067 -0.01981204 -0.02063895 4.23063293] [ 0.01999342 0.99976296 0.00861924 -0.01170977] [ 0.02046329 -0.00902836 0.99974984 -1.30536562] [ 0. 0. 0. 1. ]] SLAMing on 101.73719347 meters Centerline goodness [0,1] 0.8796677880571909 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.30 [[ 0.99960237 -0.01903574 -0.02080246 4.23094641] [ 0.01920481 0.9997839 0.00795828 -0.00848955] [ 0.02064648 -0.00835463 0.99975193 -1.3046961 ] [ 0. 0. 0. 1. ]] SLAMing on 101.76719347 meters Centerline goodness [0,1] 0.8872809877374166 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.00, Z:-1.30 [[ 0.99960698 -0.01881086 -0.02078551 4.23065595] [ 0.0189572 0.99979672 0.00686582 -0.0047566 ] [ 0.02065213 -0.00725716 0.99976038 -1.30376237] [ 0. 0. 0. 1. ]] SLAMing on 101.79719347 meters Centerline goodness [0,1] 0.8985299993690985 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.30 [[ 9.99657729e-01 -1.69962365e-02 -1.98885202e-02 4.22630975e+00] [ 1.71520879e-02 9.99823303e-01 7.69207007e-03 4.92780616e-04] [ 1.97542698e-02 -8.03056694e-03 9.99772614e-01 -1.30007281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82719347 meters Centerline goodness [0,1] 0.8865169480873172 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.30 [[ 9.99573506e-01 -2.12662041e-02 -2.00138734e-02 4.22590368e+00] [ 2.13228999e-02 9.99769198e-01 2.62367844e-03 4.43198119e-03] [ 1.99534585e-02 -3.04931328e-03 9.99796260e-01 -1.29849941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85719347 meters Centerline goodness [0,1] 0.8669981746081702 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.30 [[ 9.99560038e-01 -2.20916205e-02 -1.97911934e-02 4.22485368e+00] [ 2.21377543e-02 9.99752693e-01 2.11495114e-03 4.58744016e-03] [ 1.97395762e-02 -2.55215322e-03 9.99801898e-01 -1.29768882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88719347 meters Centerline goodness [0,1] 0.8669981746081702 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.30 [[ 9.99560038e-01 -2.20916205e-02 -1.97911934e-02 4.22485368e+00] [ 2.21377543e-02 9.99752693e-01 2.11495114e-03 4.58744016e-03] [ 1.97395762e-02 -2.55215322e-03 9.99801898e-01 -1.29768882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91719347 meters Centerline goodness [0,1] 0.8581950576468372 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.30 [[ 9.99541373e-01 -2.28333935e-02 -1.98917044e-02 4.22523102e+00] [ 2.28779676e-02 9.99736232e-01 2.01613650e-03 3.56377332e-03] [ 1.98404224e-02 -2.47029361e-03 9.99800108e-01 -1.29811405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94719347 meters Centerline goodness [0,1] 0.8395165528113505 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.30 [[ 9.99438852e-01 -2.70549029e-02 -1.97487759e-02 4.22565869e+00] [ 2.70199783e-02 9.99632826e-01 -2.03318895e-03 3.54037038e-03] [ 1.97965324e-02 1.49843653e-03 9.99802907e-01 -1.29880254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97719347 meters Centerline goodness [0,1] 0.8233124462979651 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.30 [[ 9.99441665e-01 -2.66120475e-02 -2.02028976e-02 4.22767395e+00] [ 2.65857603e-02 9.99645305e-01 -1.56867340e-03 3.82306038e-03] [ 2.02374773e-02 1.03068817e-03 9.99794670e-01 -1.30024093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00719347 meters Centerline goodness [0,1] 0.830228789122519 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.30 [[ 9.99515658e-01 -2.35085042e-02 -2.03911519e-02 4.22831315e+00] [ 2.35520252e-02 9.99720813e-01 1.89675662e-03 3.78386197e-03] [ 2.03408691e-02 -2.37609087e-03 9.99790280e-01 -1.30104523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03719347 meters Centerline goodness [0,1] 0.8220637583892617 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.30 [[ 9.99522989e-01 -2.27050595e-02 -2.09349967e-02 4.23081423e+00] [ 2.27622535e-02 9.99737786e-01 2.49772167e-03 5.03350327e-03] [ 2.08727963e-02 -2.97305794e-03 9.99777719e-01 -1.30283178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06719347 meters Centerline goodness [0,1] 0.8266117223779442 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.31 [[ 0.99956064 -0.02056389 -0.02134621 4.23335938] [ 0.02066057 0.99977722 0.00431866 0.00717515] [ 0.02125264 -0.00475779 0.99976282 -1.30502633] [ 0. 0. 0. 1. ]] SLAMing on 102.09719347 meters Centerline goodness [0,1] 0.8391519109213446 Centerline is valid? [False, False] Translation: X:4.24, Y:0.01, Z:-1.31 [[ 0.99956575 -0.0199236 -0.02171106 4.23525395] [ 0.02002651 0.99978917 0.00453289 0.00886611] [ 0.02161617 -0.00496572 0.99975401 -1.30638536] [ 0. 0. 0. 1. ]] SLAMing on 102.12719347 meters Centerline goodness [0,1] 0.8343759807511246 Centerline is valid? [False, False] Translation: X:4.24, Y:0.01, Z:-1.31 [[ 0.99957781 -0.01865644 -0.0222742 4.23798458] [ 0.01877779 0.99980989 0.00525115 0.01097608] [ 0.02217199 -0.00566719 0.99973811 -1.30829529] [ 0. 0. 0. 1. ]] SLAMing on 102.15719347 meters Centerline goodness [0,1] 0.8709187867546319 Centerline is valid? [False, False] Translation: X:4.24, Y:0.01, Z:-1.31 [[ 0.99958734 -0.01739588 -0.02285909 4.24098314] [ 0.01753331 0.99982931 0.00582515 0.01374084] [ 0.02275386 -0.00622355 0.99972173 -1.31053432] [ 0. 0. 0. 1. ]] SLAMing on 102.18719347 meters Centerline goodness [0,1] 0.8722764364431732 Centerline is valid? [False, False] Translation: X:4.25, Y:0.02, Z:-1.31 [[ 0.99960338 -0.0147462 -0.02399221 4.24615439] [ 0.01492662 0.99986152 0.00735835 0.01938714] [ 0.02388038 -0.00771355 0.99968506 -1.31446749] [ 0. 0. 0. 1. ]] SLAMing on 102.21719347 meters Centerline goodness [0,1] 0.8645428373295228 Centerline is valid? [False, False] Translation: X:4.25, Y:0.02, Z:-1.31 [[ 0.99959414 -0.01511328 -0.02414823 4.24674801] [ 0.01526716 0.99986422 0.00620073 0.02317797] [ 0.02405124 -0.00656689 0.99968916 -1.3146569 ] [ 0. 0. 0. 1. ]] SLAMing on 102.24719347 meters Centerline goodness [0,1] 0.869190255366473 Centerline is valid? [False, False] Translation: X:4.25, Y:0.03, Z:-1.31 [[ 0.99958074 -0.01551464 -0.0244466 4.24750158] [ 0.01564342 0.9998647 0.00508535 0.02697429] [ 0.0243644 -0.00546564 0.9996882 -1.31470371] [ 0. 0. 0. 1. ]] SLAMing on 102.27719347 meters Centerline goodness [0,1] 0.874537737434863 Centerline is valid? [False, False] Translation: X:4.25, Y:0.03, Z:-1.31 [[ 9.99570733e-01 -1.59982473e-02 -2.45439442e-02 4.24774570e+00] [ 1.60997721e-02 9.99862610e-01 3.94442358e-03 3.06626889e-02] [ 2.44774682e-02 -4.33788228e-03 9.99690970e-01 -1.31460340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30719347 meters Centerline goodness [0,1] 0.8691761542662689 Centerline is valid? [False, False] Translation: X:4.25, Y:0.04, Z:-1.31 [[ 9.99553449e-01 -1.71077988e-02 -2.44995254e-02 4.24739932e+00] [ 1.71604351e-02 9.99850867e-01 1.93982003e-03 3.58846963e-02] [ 2.44626857e-02 -2.35937632e-03 9.99697960e-01 -1.31408578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33719347 meters Centerline goodness [0,1] 0.8641663509702404 Centerline is valid? [False, False] Translation: X:4.25, Y:0.04, Z:-1.31 [[ 9.99538970e-01 -1.79183482e-02 -2.45108306e-02 4.24643190e+00] [ 1.79429864e-02 9.99838703e-01 7.85614529e-04 3.78265428e-02] [ 2.44928001e-02 -1.22504984e-03 9.99699256e-01 -1.31266989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36719347 meters Centerline goodness [0,1] 0.8622425340128891 Centerline is valid? [False, False] Translation: X:4.25, Y:0.04, Z:-1.31 [[ 0.99971024 -0.01802516 -0.01595368 4.25105684] [ 0.01792323 0.99981818 -0.00650878 0.04175439] [ 0.0160681 0.00622095 0.99985155 -1.31274728] [ 0. 0. 0. 1. ]] SLAMing on 102.39719347 meters Centerline goodness [0,1] 0.8562843949648934 Centerline is valid? [False, False] Translation: X:4.25, Y:0.04, Z:-1.31 [[ 9.99761761e-01 -1.48549888e-02 -1.59922320e-02 4.25054958e+00] [ 1.48105509e-02 9.99886131e-01 -2.89358383e-03 4.17083544e-02] [ 1.60333951e-02 2.65604070e-03 9.99867929e-01 -1.31237387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42719347 meters Centerline goodness [0,1] 0.8502150876088553 Centerline is valid? [False, False] Translation: X:4.25, Y:0.04, Z:-1.31 [[ 9.99759533e-01 -1.46737503e-02 -1.62958993e-02 4.25134649e+00] [ 1.46260472e-02 9.99888404e-01 -3.04264674e-03 4.37886291e-02] [ 1.63387277e-02 2.80357050e-03 9.99862584e-01 -1.31237625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45719347 meters Centerline goodness [0,1] 0.8559899117276166 Centerline is valid? [False, False] Translation: X:4.25, Y:0.05, Z:-1.31 [[ 9.99808744e-01 -1.14620430e-02 -1.58460654e-02 4.24944702e+00] [ 1.14652484e-02 9.99934266e-01 1.11454986e-04 4.50457266e-02] [ 1.58437463e-02 -2.93112746e-04 9.99874437e-01 -1.31113276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48719347 meters Centerline goodness [0,1] 0.868922042445892 Centerline is valid? [False, False] Translation: X:4.25, Y:0.05, Z:-1.31 [[ 9.99811951e-01 -1.10637079e-02 -1.59265830e-02 4.24980437e+00] [ 1.10691521e-02 9.99938703e-01 2.53715969e-04 4.54228671e-02] [ 1.59227997e-02 -4.29962027e-04 9.99873132e-01 -1.31115348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51719347 meters Centerline goodness [0,1] 0.8835629403722789 Centerline is valid? [False, False] Translation: X:4.25, Y:0.04, Z:-1.31 [[ 9.99847785e-01 -7.51565585e-03 -1.57455440e-02 4.24913423e+00] [ 7.57895290e-03 9.99963422e-01 3.96418952e-03 4.48730425e-02] [ 1.57151746e-02 -4.08292084e-03 9.99868173e-01 -1.31090917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54719347 meters Centerline goodness [0,1] 0.8844066798468851 Centerline is valid? [False, False] Translation: X:4.25, Y:0.05, Z:-1.31 [[ 9.99849118e-01 -7.03741309e-03 -1.58813059e-02 4.24938735e+00] [ 7.09637080e-03 9.99968126e-01 3.65910171e-03 4.72837778e-02] [ 1.58550491e-02 -3.77124926e-03 9.99867189e-01 -1.31042282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57719347 meters Centerline goodness [0,1] 0.9096501910721034 Centerline is valid? [False, False] Translation: X:4.25, Y:0.05, Z:-1.31 [[ 9.99870272e-01 1.59046672e-03 -1.60284174e-02 4.25026550e+00] [-1.40870144e-03 9.99934650e-01 1.13451061e-02 4.95875953e-02] [ 1.60454139e-02 -1.13210550e-02 9.99807171e-01 -1.31089908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60719347 meters Centerline goodness [0,1] 0.9179457030675877 Centerline is valid? [False, False] Translation: X:4.25, Y:0.05, Z:-1.31 [[ 0.99983929 0.00679326 -0.01659058 4.25326533] [-0.00652674 0.99984963 0.01606621 0.04999762] [ 0.01669723 -0.01595534 0.99973328 -1.31324279] [ 0. 0. 0. 1. ]] SLAMing on 102.63719347 meters Centerline goodness [0,1] 0.92463239150043 Centerline is valid? [False, False] Translation: X:4.26, Y:0.05, Z:-1.32 [[ 0.99979001 0.0107238 -0.01746228 4.25841875] [-0.01038834 0.99976189 0.01918955 0.05120288] [ 0.01766391 -0.01900411 0.99966336 -1.31721615] [ 0. 0. 0. 1. ]] SLAMing on 102.66719347 meters Centerline goodness [0,1] 0.9254784965438998 Centerline is valid? [False, False] Translation: X:4.26, Y:0.05, Z:-1.32 [[ 0.99975588 0.01279564 -0.01801262 4.26230535] [-0.01242833 0.9997155 0.02035817 0.0524078 ] [ 0.01826799 -0.02012933 0.99963048 -1.32043615] [ 0. 0. 0. 1. ]] SLAMing on 102.69719347 meters Centerline goodness [0,1] 0.9203877790834313 Centerline is valid? [False, False] Translation: X:4.26, Y:0.05, Z:-1.32 [[ 0.99971628 0.02002794 -0.01289344 4.26399862] [-0.01989172 0.99974586 0.01060788 0.05378937] [ 0.01310262 -0.01034839 0.99986061 -1.32286599] [ 0. 0. 0. 1. ]] SLAMing on 102.72719347 meters Centerline goodness [0,1] 0.924244016222918 Centerline is valid? [False, False] Translation: X:4.26, Y:0.06, Z:-1.32 [[ 0.99977883 0.01655603 -0.01296887 4.26353021] [-0.01647423 0.99984388 0.00638918 0.05560994] [ 0.01307263 -0.00617411 0.99989549 -1.3215171 ] [ 0. 0. 0. 1. ]] SLAMing on 102.75719347 meters Centerline goodness [0,1] 0.9284410981313311 Centerline is valid? [False, False] Translation: X:4.27, Y:0.05, Z:-1.32 [[ 0.99993585 0.00987466 -0.00554866 4.27024412] [-0.00982115 0.99990579 0.00958933 0.05306756] [ 0.00564283 -0.00953422 0.99993863 -1.3211112 ] [ 0. 0. 0. 1. ]] SLAMing on 102.78719347 meters Centerline goodness [0,1] 0.9275606609231282 Centerline is valid? [False, False] Translation: X:4.28, Y:0.05, Z:-1.32 [[ 9.99992939e-01 3.75779451e-03 1.13007585e-05 4.28253433e+00] [-3.75762325e-03 9.99908219e-01 1.30166420e-02 5.04458651e-02] [ 3.76141446e-05 -1.30165926e-02 9.99915280e-01 -1.32451456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81719347 meters Centerline goodness [0,1] 0.9276974416017798 Centerline is valid? [False, False] Translation: X:4.28, Y:0.05, Z:-1.32 [[ 9.99999964e-01 -2.46419718e-04 -1.03168341e-04 4.28265721e+00] [ 2.47380068e-04 9.99955653e-01 9.41440263e-03 4.78904256e-02] [ 1.00843871e-04 -9.41442781e-03 9.99955678e-01 -1.32438120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84719347 meters Centerline goodness [0,1] 0.9244632862751649 Centerline is valid? [False, False] Translation: X:4.28, Y:0.04, Z:-1.33 [[ 9.99993405e-01 -3.59113156e-03 -5.41770094e-04 4.28427757e+00] [ 3.59473545e-03 9.99970387e-01 6.80458360e-03 4.39569486e-02] [ 5.17317895e-04 -6.80648625e-03 9.99976702e-01 -1.32549058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87719347 meters Centerline goodness [0,1] 0.9266409266409267 Centerline is valid? [False, False] Translation: X:4.28, Y:0.04, Z:-1.33 [[ 9.99972717e-01 -7.35862935e-03 -6.45222091e-04 4.28467019e+00] [ 7.36087891e-03 9.99966584e-01 3.55632193e-03 4.15169388e-02] [ 6.19030875e-04 -3.56097430e-03 9.99993468e-01 -1.32574932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90719347 meters Centerline goodness [0,1] 0.9180424280613316 Centerline is valid? [False, False] Translation: X:4.28, Y:0.04, Z:-1.32 [[ 9.99932989e-01 -1.15504187e-02 -7.78351218e-04 4.28426549e+00] [ 1.15509679e-02 9.99933037e-01 7.04798738e-04 3.72444205e-02] [ 7.70158377e-04 -7.13742219e-04 9.99999449e-01 -1.32499608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93719347 meters Centerline goodness [0,1] 0.9111834505933004 Centerline is valid? [False, False] Translation: X:4.28, Y:0.03, Z:-1.32 [[ 9.99930842e-01 -1.17148318e-02 -1.03665006e-03 4.28454489e+00] [ 1.17164229e-02 9.99930171e-01 1.54234851e-03 3.41329934e-02] [ 1.01850932e-03 -1.55438767e-03 9.99998273e-01 -1.32492433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96719347 meters Centerline goodness [0,1] 0.8800125707102451 Centerline is valid? [False, False] Translation: X:4.29, Y:0.03, Z:-1.33 [[ 9.99877578e-01 -1.55807413e-02 -1.43841853e-03 4.28541345e+00] [ 1.55797598e-02 9.99878389e-01 -6.91106763e-04 2.82228001e-02] [ 1.44901156e-03 6.68611941e-04 9.99998727e-01 -1.32534041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99719347 meters Centerline goodness [0,1] 0.8633289932378512 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-1.33 [[ 9.99877123e-01 -1.55918196e-02 -1.62306131e-03 4.28605166e+00] [ 1.55925675e-02 9.99878328e-01 4.49148296e-04 2.40197708e-02] [ 1.61586079e-03 -4.74400799e-04 9.99998582e-01 -1.32604529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02719347 meters Centerline goodness [0,1] 0.845215089900857 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-1.33 [[ 9.99881974e-01 -1.52487912e-02 -1.87399015e-03 4.28723973e+00] [ 1.52522682e-02 9.99881956e-01 1.85529276e-03 1.98529523e-02] [ 1.84547797e-03 -1.88365639e-03 9.99996523e-01 -1.32728008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05719347 meters Centerline goodness [0,1] 0.8837892880387999 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-1.33 [[ 9.99888380e-01 -1.47944256e-02 -2.08623210e-03 4.28846168e+00] [ 1.48010780e-02 9.99885305e-01 3.21016843e-03 1.60256732e-02] [ 2.03850022e-03 -3.24068860e-03 9.99992671e-01 -1.32858991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08719347 meters Centerline goodness [0,1] 0.8787528382810529 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99893765e-01 -1.43897346e-02 -2.32234444e-03 4.28947645e+00] [ 1.43997675e-02 9.99886800e-01 4.36285831e-03 1.30123878e-02] [ 2.25930118e-03 -4.39583605e-03 9.99987786e-01 -1.32952218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11719347 meters Centerline goodness [0,1] 0.8783190948972524 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99906159e-01 -1.33750159e-02 -2.96350831e-03 4.29178197e+00] [ 1.33910661e-02 9.99895407e-01 5.46396776e-03 1.25615653e-02] [ 2.89011769e-03 -5.50313955e-03 9.99980681e-01 -1.33093321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14719347 meters Centerline goodness [0,1] 0.8860930222756106 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99912227e-01 -1.28436309e-02 -3.25245966e-03 4.29259496e+00] [ 1.28626188e-02 9.99899949e-01 5.88598824e-03 1.23656272e-02] [ 3.17653679e-03 -5.92730676e-03 9.99977388e-01 -1.33120630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17719347 meters Centerline goodness [0,1] 0.8926088777219431 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99921225e-01 -1.20084793e-02 -3.65233489e-03 4.29386494e+00] [ 1.20327581e-02 9.99905158e-01 6.69978362e-03 1.11261921e-02] [ 3.57153428e-03 -6.74320351e-03 9.99970886e-01 -1.33178204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20719347 meters Centerline goodness [0,1] 0.9046457851587135 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99925400e-01 -1.16516267e-02 -3.66537575e-03 4.29364506e+00] [ 1.16767873e-02 9.99907882e-01 6.91957613e-03 1.02280309e-02] [ 3.58441379e-03 -6.96185974e-03 9.99969342e-01 -1.33131921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23719347 meters Centerline goodness [0,1] 0.9090066559946078 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99936706e-01 -1.06581394e-02 -3.60402926e-03 4.29329317e+00] [ 1.06849215e-02 9.99914822e-01 7.49539403e-03 9.66809140e-03] [ 3.52383532e-03 -7.53342838e-03 9.99965414e-01 -1.33054006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26719347 meters Centerline goodness [0,1] 0.9113849394418114 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99938686e-01 -1.03849769e-02 -3.84398949e-03 4.29371285e+00] [ 1.04143973e-02 9.99916011e-01 7.71439768e-03 9.72643469e-03] [ 3.76355279e-03 -7.75395751e-03 9.99962855e-01 -1.33038784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29719347 meters Centerline goodness [0,1] 0.9064267244097799 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99937641e-01 -1.04246533e-02 -4.00513707e-03 4.29329490e+00] [ 1.04556836e-02 9.99914865e-01 7.80643862e-03 9.42978621e-03] [ 3.92341668e-03 -7.84782827e-03 9.99961508e-01 -1.32930653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32719347 meters Centerline goodness [0,1] 0.906157005742068 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99932885e-01 -1.08072826e-02 -4.17465727e-03 4.29350183e+00] [ 1.08399972e-02 9.99910078e-01 7.89498604e-03 8.09535746e-03] [ 4.08895853e-03 -7.93970944e-03 9.99960120e-01 -1.32925330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35719347 meters Centerline goodness [0,1] 0.8957291185001471 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-1.33 [[ 9.99917806e-01 -1.22647643e-02 -3.73592113e-03 4.29176786e+00] [ 1.22901926e-02 9.99900932e-01 6.86126901e-03 5.78464566e-03] [ 3.65139917e-03 -6.90662024e-03 9.99969482e-01 -1.32805505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38719347 meters Centerline goodness [0,1] 0.8838713755900203 Centerline is valid? [False, False] Translation: X:4.29, Y:0.00, Z:-1.33 [[ 9.99844865e-01 -1.72588210e-02 -3.51827164e-03 4.29019158e+00] [ 1.72688118e-02 9.99846880e-01 2.82938283e-03 2.44945974e-03] [ 3.46890111e-03 -2.88970027e-03 9.99989808e-01 -1.32639996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41719347 meters Centerline goodness [0,1] 0.8479758105157064 Centerline is valid? [False, False] Translation: X:4.29, Y:0.00, Z:-1.33 [[ 9.99834020e-01 -1.78399649e-02 -3.69700158e-03 4.29021029e+00] [ 1.78508689e-02 9.99836345e-01 2.93769453e-03 8.28076164e-04] [ 3.64398818e-03 -3.00320162e-03 9.99988851e-01 -1.32606978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44719347 meters Centerline goodness [0,1] 0.8643760921282553 Centerline is valid? [False, False] Translation: X:4.29, Y:0.00, Z:-1.33 [[ 9.99823149e-01 -1.84416026e-02 -3.68471011e-03 4.28958010e+00] [ 1.84516713e-02 9.99826060e-01 2.71752690e-03 3.15567447e-04] [ 3.63395364e-03 -2.78503537e-03 9.99989519e-01 -1.32529621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47719347 meters Centerline goodness [0,1] 0.8512550810878766 Centerline is valid? [False, False] Translation: X:4.29, Y:0.00, Z:-1.33 [[ 9.99814343e-01 -1.88365309e-02 -4.05776337e-03 4.29005793e+00] [ 1.88457760e-02 9.99819866e-01 2.25229550e-03 1.88090760e-03] [ 4.01460700e-03 -2.32834905e-03 9.99989231e-01 -1.32501841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50719347 meters Centerline goodness [0,1] 0.8582336899517516 Centerline is valid? [False, False] Translation: X:4.29, Y:0.00, Z:-1.33 [[ 9.99816885e-01 -1.86565311e-02 -4.25799071e-03 4.29082909e+00] [ 1.86664077e-02 9.99823141e-01 2.29171816e-03 2.26686756e-03] [ 4.21448214e-03 -2.37077990e-03 9.99988309e-01 -1.32554334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53719347 meters Centerline goodness [0,1] 0.841013583020175 Centerline is valid? [False, False] Translation: X:4.29, Y:0.00, Z:-1.33 [[ 9.99821882e-01 -1.83482979e-02 -4.42096572e-03 4.29172787e+00] [ 1.83593594e-02 9.99828390e-01 2.47458263e-03 2.32561373e-03] [ 4.37480266e-03 -2.55530796e-03 9.99987166e-01 -1.32633872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56719347 meters Centerline goodness [0,1] 0.8504283350438808 Centerline is valid? [False, False] Translation: X:4.29, Y:0.00, Z:-1.33 [[ 9.99827181e-01 -1.79063028e-02 -4.99719693e-03 4.29428026e+00] [ 1.79207000e-02 9.99835346e-01 2.85131049e-03 3.26668510e-03] [ 4.94531769e-03 -2.94037099e-03 9.99983449e-01 -1.32845537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59719347 meters Centerline goodness [0,1] 0.8522262536440092 Centerline is valid? [False, False] Translation: X:4.30, Y:0.00, Z:-1.33 [[ 9.99828468e-01 -1.77173253e-02 -5.39729193e-03 4.29599833e+00] [ 1.77342157e-02 9.99837938e-01 3.09778956e-03 4.27922088e-03] [ 5.34153268e-03 -3.19297493e-03 9.99980636e-01 -1.32976793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62719347 meters Centerline goodness [0,1] 0.8196545862799823 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99822448e-01 -1.79355737e-02 -5.77823351e-03 4.29735492e+00] [ 1.79531353e-02 9.99834323e-01 3.00186647e-03 5.40874057e-03] [ 5.72343600e-03 -3.10507089e-03 9.99978800e-01 -1.33070214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65719347 meters Centerline goodness [0,1] 0.8016826419990791 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99812737e-01 -1.83659456e-02 -6.09783276e-03 4.29835775e+00] [ 1.83827399e-02 9.99827352e-01 2.70961260e-03 6.44842659e-03] [ 6.04701538e-03 -2.82120006e-03 9.99977737e-01 -1.33132306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68719347 meters Centerline goodness [0,1] 0.7848793204944916 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99784125e-01 -1.98423482e-02 -6.16311426e-03 4.29815940e+00] [ 1.98509434e-02 9.99802057e-01 1.33659107e-03 8.69245391e-03] [ 6.13537321e-03 -1.45864617e-03 9.99980115e-01 -1.33108686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71719347 meters Centerline goodness [0,1] 0.7712179446789742 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99775832e-01 -2.02261149e-02 -6.26018559e-03 4.29840995e+00] [ 2.02324256e-02 9.99794856e-01 9.46374815e-04 9.59139385e-03] [ 6.23975986e-03 -1.07282141e-03 9.99979957e-01 -1.33118757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74719347 meters Centerline goodness [0,1] 0.7682937092362718 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99767456e-01 -2.06458557e-02 -6.22764141e-03 4.29805487e+00] [ 2.06492357e-02 9.99786667e-01 4.78928932e-04 1.05600201e-02] [ 6.21642495e-03 -6.07413595e-04 9.99980493e-01 -1.33078667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77719347 meters Centerline goodness [0,1] 0.7728295380474779 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99812422e-01 -1.83295374e-02 -6.25691845e-03 4.29800094e+00] [ 1.83500807e-02 9.99826367e-01 3.24183302e-03 1.10113556e-02] [ 6.19641075e-03 -3.35603989e-03 9.99975170e-01 -1.33106911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80719347 meters Centerline goodness [0,1] 0.7728295380474779 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99812422e-01 -1.83295374e-02 -6.25691845e-03 4.29800094e+00] [ 1.83500807e-02 9.99826367e-01 3.24183302e-03 1.10113556e-02] [ 6.19641075e-03 -3.35603989e-03 9.99975170e-01 -1.33106911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83719347 meters Centerline goodness [0,1] 0.7495488311579301 Centerline is valid? [False, False] Translation: X:4.30, Y:0.01, Z:-1.33 [[ 9.99805172e-01 -1.86185721e-02 -6.55486812e-03 4.29883752e+00] [ 1.86353487e-02 9.99823202e-01 2.50769003e-03 1.41099954e-02] [ 6.50701962e-03 -2.62935372e-03 9.99975372e-01 -1.33138461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86719347 meters Centerline goodness [0,1] 0.7528366111951589 Centerline is valid? [False, False] Translation: X:4.30, Y:0.02, Z:-1.33 [[ 9.99841695e-01 -1.65361135e-02 -6.56819119e-03 4.29930555e+00] [ 1.65619992e-02 9.99855210e-01 3.90643263e-03 2.03775407e-02] [ 6.50264297e-03 -4.01459660e-03 9.99970799e-01 -1.33208188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89719347 meters Centerline goodness [0,1] 0.752437919922492 Centerline is valid? [False, False] Translation: X:4.30, Y:0.02, Z:-1.33 [[ 9.99845583e-01 -1.61567032e-02 -6.91168256e-03 4.30062614e+00] [ 1.61820595e-02 9.99862478e-01 3.62855775e-03 2.35641221e-02] [ 6.85210652e-03 -3.73984270e-03 9.99969531e-01 -1.33282397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92719347 meters Centerline goodness [0,1] 0.7545332719125591 Centerline is valid? [False, False] Translation: X:4.30, Y:0.03, Z:-1.33 [[ 9.99851529e-01 -1.55113393e-02 -7.50452497e-03 4.30293263e+00] [ 1.55380047e-02 9.99873124e-01 3.50807692e-03 2.65840081e-02] [ 7.44915785e-03 -3.62416142e-03 9.99965687e-01 -1.33419947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95719347 meters Centerline goodness [0,1] 0.7977733815977776 Centerline is valid? [False, False] Translation: X:4.30, Y:0.03, Z:-1.33 [[ 0.99989676 -0.01212364 -0.00771235 4.30362536] [ 0.01216386 0.99991255 0.00518921 0.03465693] [ 0.00764876 -0.00528249 0.99995679 -1.33437928] [ 0. 0. 0. 1. ]] SLAMing on 103.98719347 meters Centerline goodness [0,1] 0.7775394321766562 Centerline is valid? [False, False] Translation: X:4.30, Y:0.04, Z:-1.33 [[ 0.99992941 -0.00868825 -0.00810476 4.30430021] [ 0.00875022 0.99993251 0.00764237 0.03967798] [ 0.00803782 -0.00771275 0.99993795 -1.33425902] [ 0. 0. 0. 1. ]] SLAMing on 104.01719347 meters Centerline goodness [0,1] 0.835979502688172 Centerline is valid? [False, False] Translation: X:4.30, Y:0.04, Z:-1.33 [[ 0.99995094 -0.00528432 -0.00837824 4.30452087] [ 0.00536812 0.99993547 0.01001149 0.04486009] [ 0.00832479 -0.01005598 0.99991478 -1.33376475] [ 0. 0. 0. 1. ]] SLAMing on 104.04719347 meters Centerline goodness [0,1] 0.8511133964362919 Centerline is valid? [False, False] Translation: X:4.30, Y:0.05, Z:-1.33 [[ 0.99994936 -0.00543318 -0.00847069 4.30421868] [ 0.00550252 0.99995138 0.00818343 0.0512124 ] [ 0.00842582 -0.00822963 0.99993064 -1.33231889] [ 0. 0. 0. 1. ]] SLAMing on 104.07719347 meters Centerline goodness [0,1] 0.8422096080804709 Centerline is valid? [False, False] Translation: X:4.30, Y:0.06, Z:-1.33 [[ 9.99960274e-01 -1.46490852e-03 -8.79227337e-03 4.30415678e+00] [ 1.53331612e-03 9.99968570e-01 7.77873123e-03 6.05475171e-02] [ 8.78060189e-03 -7.79190355e-03 9.99931091e-01 -1.32800406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10719347 meters Centerline goodness [0,1] 0.8634735055628889 Centerline is valid? [False, False] Translation: X:4.31, Y:0.07, Z:-1.33 [[ 9.99958028e-01 -7.58142604e-04 -9.13058152e-03 4.30544321e+00] [ 8.24164936e-04 9.99973529e-01 7.22931048e-03 6.53705065e-02] [ 9.12485897e-03 -7.23653216e-03 9.99932182e-01 -1.32832072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13719347 meters Centerline goodness [0,1] 0.8735903046625147 Centerline is valid? [False, False] Translation: X:4.31, Y:0.07, Z:-1.33 [[ 9.99954032e-01 3.82759828e-05 -9.58818228e-03 4.30713599e+00] [ 2.66602604e-05 9.99977067e-01 6.77230970e-03 7.00219458e-02] [ 9.58822161e-03 -6.77225401e-03 9.99931099e-01 -1.32889264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16719347 meters Centerline goodness [0,1] 0.9129549449136194 Centerline is valid? [False, False] Translation: X:4.31, Y:0.08, Z:-1.33 [[ 0.99991963 0.00798815 -0.00984446 4.30777734] [-0.0078575 0.99988148 0.0132397 0.07567999] [ 0.00994906 -0.01316128 0.99986389 -1.32861833] [ 0. 0. 0. 1. ]] SLAMing on 104.19719347 meters Centerline goodness [0,1] 0.9136226994528428 Centerline is valid? [False, False] Translation: X:4.31, Y:0.08, Z:-1.33 [[ 0.99987797 0.01191707 -0.01010049 4.30835595] [-0.01174986 0.99979555 0.01645611 0.0786761 ] [ 0.01029453 -0.01633543 0.99981357 -1.32851904] [ 0. 0. 0. 1. ]] SLAMing on 104.22719347 meters Centerline goodness [0,1] 0.9140513706022015 Centerline is valid? [False, False] Translation: X:4.31, Y:0.08, Z:-1.33 [[ 0.9998551 0.01311953 -0.0108472 4.31057166] [-0.01293939 0.99977992 0.01651338 0.0825956 ] [ 0.01106146 -0.01637063 0.9998048 -1.32899059] [ 0. 0. 0. 1. ]] SLAMing on 104.25719347 meters Centerline goodness [0,1] 0.9142376803999913 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-1.33 [[ 0.99984738 0.01335896 -0.01125835 4.31158124] [-0.01317819 0.99978545 0.01598115 0.08531895] [ 0.01146943 -0.01583034 0.99980891 -1.32905797] [ 0. 0. 0. 1. ]] SLAMing on 104.28719347 meters Centerline goodness [0,1] 0.9136445907931178 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-1.33 [[ 0.99987601 0.01059462 -0.01165 4.31327298] [-0.01045358 0.99987214 0.01210098 0.08736899] [ 0.01177672 -0.0119777 0.99985891 -1.32959211] [ 0. 0. 0. 1. ]] SLAMing on 104.31719347 meters Centerline goodness [0,1] 0.9121483097055616 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-1.33 [[ 0.99990513 0.00695359 -0.01189069 4.31358349] [-0.00685897 0.99994464 0.00797992 0.08796203] [ 0.01194552 -0.00789761 0.99989746 -1.32910527] [ 0. 0. 0. 1. ]] SLAMing on 104.34719347 meters Centerline goodness [0,1] 0.9127985677481333 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-1.33 [[ 9.99921980e-01 2.97799084e-03 -1.21312030e-02 4.31340700e+00] [-2.93566043e-03 9.99989546e-01 3.50569690e-03 8.92203922e-02] [ 1.21415161e-02 -3.46981029e-03 9.99920269e-01 -1.32789749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37719347 meters Centerline goodness [0,1] 0.9120480093931421 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-1.33 [[ 9.99918210e-01 2.63315107e-03 -1.25155796e-02 4.31314027e+00] [-2.58845649e-03 9.99990220e-01 3.58597309e-03 8.88741104e-02] [ 1.25248996e-02 -3.55328376e-03 9.99915247e-01 -1.32656257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40719347 meters Centerline goodness [0,1] 0.9143884108484914 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-1.33 [[ 9.99915664e-01 2.53613593e-03 -1.27370432e-02 4.31321248e+00] [-2.49133723e-03 9.99990660e-01 3.53183431e-03 8.85530812e-02] [ 1.27458814e-02 -3.49980418e-03 9.99912643e-01 -1.32605294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43719347 meters Centerline goodness [0,1] 0.9115922515635858 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-1.33 [[ 9.99912933e-01 2.65756938e-03 -1.29253401e-02 4.31383164e+00] [-2.60857171e-03 9.99989354e-01 3.80620587e-03 8.71999809e-02] [ 1.29353177e-02 -3.77215780e-03 9.99909220e-01 -1.32640268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46719347 meters Centerline goodness [0,1] 0.9124253747369325 Centerline is valid? [False, False] Translation: X:4.32, Y:0.08, Z:-1.33 [[ 9.99909347e-01 2.12805020e-04 -1.34630104e-02 4.31666403e+00] [-1.96890313e-04 9.99999280e-01 1.18342052e-03 8.41682103e-02] [ 1.34632525e-02 -1.18066250e-03 9.99908669e-01 -1.32844004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49719347 meters Centerline goodness [0,1] 0.914441579474503 Centerline is valid? [False, False] Translation: X:4.32, Y:0.08, Z:-1.33 [[ 9.99916071e-01 -1.26737195e-03 -1.28935988e-02 4.31646367e+00] [ 1.26091101e-03 9.99999075e-01 -5.09213913e-04 8.18452052e-02] [ 1.28942322e-02 4.92913495e-04 9.99916744e-01 -1.32897286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52719347 meters Centerline goodness [0,1] 0.9155412601712606 Centerline is valid? [False, False] Translation: X:4.32, Y:0.08, Z:-1.33 [[ 9.99918248e-01 -1.87299276e-03 -1.26486458e-02 4.31512635e+00] [ 1.86397924e-03 9.99998000e-01 -7.24358645e-04 7.98724703e-02] [ 1.26499772e-02 7.00722614e-04 9.99919740e-01 -1.32794944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55719347 meters Centerline goodness [0,1] 0.9161614448636961 Centerline is valid? [False, False] Translation: X:4.31, Y:0.08, Z:-1.32 [[ 9.99921807e-01 -3.17298425e-03 -1.20959598e-02 4.31164708e+00] [ 3.15927240e-03 9.99994345e-01 -1.15252890e-03 7.78486522e-02] [ 1.20995483e-02 1.11422435e-03 9.99926177e-01 -1.32474139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58719347 meters Centerline goodness [0,1] 0.9160747505496364 Centerline is valid? [False, False] Translation: X:4.31, Y:0.08, Z:-1.32 [[ 9.99921215e-01 -3.90119508e-03 -1.19308530e-02 4.31025596e+00] [ 3.88733466e-03 9.99991743e-01 -1.18469949e-03 7.56452666e-02] [ 1.19353762e-02 1.13822693e-03 9.99928123e-01 -1.32346480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61719347 meters Centerline goodness [0,1] 0.9132745602564644 Centerline is valid? [False, False] Translation: X:4.31, Y:0.07, Z:-1.32 [[ 9.99920157e-01 -4.43859126e-03 -1.18312890e-02 4.30973640e+00] [ 4.43049838e-03 9.99989933e-01 -7.10146144e-04 7.20757391e-02] [ 1.18343219e-02 6.57670936e-04 9.99929756e-01 -1.32329373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64719347 meters Centerline goodness [0,1] 0.9073867815488074 Centerline is valid? [False, False] Translation: X:4.31, Y:0.07, Z:-1.32 [[ 9.99913816e-01 -4.83437115e-03 -1.22061422e-02 4.31061514e+00] [ 4.83699281e-03 9.99988285e-01 1.85269295e-04 6.79562742e-02] [ 1.22051035e-02 -2.44294350e-04 9.99925485e-01 -1.32409752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67719347 meters Centerline goodness [0,1] 0.8844429476520238 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.32 [[ 9.99874075e-01 -9.77165607e-03 -1.25039402e-02 4.31081682e+00] [ 9.73701904e-03 9.99948595e-01 -2.82797614e-03 6.28885654e-02] [ 1.25309315e-02 2.70586892e-03 9.99917824e-01 -1.32433792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70719347 meters Centerline goodness [0,1] 0.871485015341936 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.32 [[ 9.99867630e-01 -1.02720576e-02 -1.26177454e-02 4.31065263e+00] [ 1.02434567e-02 9.99944822e-01 -2.32926111e-03 5.99332934e-02] [ 1.26409755e-02 2.19970346e-03 9.99917680e-01 -1.32411298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73719347 meters Centerline goodness [0,1] 0.8538893445208504 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.32 [[ 9.99864474e-01 -1.05262894e-02 -1.26582124e-02 4.31032617e+00] [ 1.05023565e-02 9.99942936e-01 -1.95569372e-03 5.78640355e-02] [ 1.26780763e-02 1.82248762e-03 9.99917969e-01 -1.32369063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76719347 meters Centerline goodness [0,1] 0.8544062913976912 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.32 [[ 9.99866038e-01 -1.00738387e-02 -1.29005111e-02 4.31150235e+00] [ 1.00601749e-02 9.99948764e-01 -1.12362516e-03 5.58977806e-02] [ 1.29111693e-02 9.93693238e-04 9.99916154e-01 -1.32471450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79719347 meters Centerline goodness [0,1] 0.8479845400886424 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.33 [[ 9.99871230e-01 -8.89984175e-03 -1.33534809e-02 4.31354067e+00] [ 8.89807937e-03 9.99960393e-01 -1.91386834e-04 5.60230691e-02] [ 1.33546553e-02 7.25418562e-05 9.99910820e-01 -1.32604666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82719347 meters Centerline goodness [0,1] 0.8624310787491056 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.33 [[ 9.99898079e-01 -4.88691474e-03 -1.34145236e-02 4.31371788e+00] [ 4.93767613e-03 9.99980765e-01 3.75355412e-03 5.58732777e-02] [ 1.33959223e-02 -3.81940812e-03 9.99902976e-01 -1.32624266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85719347 meters Centerline goodness [0,1] 0.8897627860026918 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.33 [[ 9.99906410e-01 4.67801497e-04 -1.36730355e-02 4.31445135e+00] [-3.64744180e-04 9.99971516e-01 7.53878895e-03 5.95255910e-02] [ 1.36761727e-02 -7.53309623e-03 9.99878100e-01 -1.32570956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88719347 meters Centerline goodness [0,1] 0.8953735456859734 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.32 [[ 9.99903190e-01 1.19311682e-03 -1.38631694e-02 4.31468468e+00] [-1.09420707e-03 9.99973910e-01 7.14010961e-03 6.21996557e-02] [ 1.38713267e-02 -7.12424920e-03 9.99878408e-01 -1.32484224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91719347 meters Centerline goodness [0,1] 0.900403938399394 Centerline is valid? [False, False] Translation: X:4.31, Y:0.06, Z:-1.32 [[ 9.99902161e-01 1.75355684e-03 -1.38777784e-02 4.31441178e+00] [-1.65997154e-03 9.99975826e-01 6.75218424e-03 6.43316927e-02] [ 1.38892832e-02 -6.72848690e-03 9.99880901e-01 -1.32381265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94719347 meters Centerline goodness [0,1] 0.8990376533871238 Centerline is valid? [False, False] Translation: X:4.31, Y:0.07, Z:-1.32 [[ 9.99898765e-01 2.22249940e-03 -1.40542220e-02 4.31442941e+00] [-2.13122549e-03 9.99976564e-01 6.50605727e-03 6.56910062e-02] [ 1.40683523e-02 -6.47544591e-03 9.99880068e-01 -1.32292436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97719347 meters Centerline goodness [0,1] 0.9006040521833969 Centerline is valid? [False, False] Translation: X:4.32, Y:0.07, Z:-1.32 [[ 9.99888893e-01 4.05955305e-03 -1.43429869e-02 4.31576709e+00] [-3.95521879e-03 9.99965568e-01 7.29512871e-03 6.54358934e-02] [ 1.43721080e-02 -7.23758852e-03 9.99870522e-01 -1.32303248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00719347 meters Centerline goodness [0,1] 0.9036422798362549 Centerline is valid? [False, False] Translation: X:4.32, Y:0.06, Z:-1.32 [[ 0.99988471 0.00466119 -0.01445102 4.3163212 ] [-0.00455151 0.99996066 0.00761359 0.06494912] [ 0.01448594 -0.00754694 0.99986659 -1.32325207] [ 0. 0. 0. 1. ]] SLAMing on 105.03719347 meters Centerline goodness [0,1] 0.9057179905467018 Centerline is valid? [False, False] Translation: X:4.32, Y:0.06, Z:-1.32 [[ 0.99987043 0.00602922 -0.0149253 4.31814988] [-0.00590162 0.99994579 0.00857852 0.06463081] [ 0.01497621 -0.00848933 0.99985181 -1.32408345] [ 0. 0. 0. 1. ]] SLAMing on 105.06719347 meters Centerline goodness [0,1] 0.9064711936317238 Centerline is valid? [False, False] Translation: X:4.32, Y:0.06, Z:-1.33 [[ 0.9998541 0.00780632 -0.01519347 4.31988108] [-0.0076582 0.99992282 0.00978265 0.06452025] [ 0.01526866 -0.00966487 0.99983672 -1.32506054] [ 0. 0. 0. 1. ]] SLAMing on 105.09719347 meters Centerline goodness [0,1] 0.9066493484727867 Centerline is valid? [False, False] Translation: X:4.32, Y:0.06, Z:-1.33 [[ 0.99986617 0.0051418 -0.01553078 4.32160803] [-0.0050354 0.99996364 0.0068822 0.06340674] [ 0.01556561 -0.00680308 0.9998557 -1.32609007] [ 0. 0. 0. 1. ]] SLAMing on 105.12719347 meters Centerline goodness [0,1] 0.9071412083184689 Centerline is valid? [False, False] Translation: X:4.32, Y:0.06, Z:-1.33 [[ 9.99877205e-01 2.18477770e-03 -1.55177608e-02 4.32209954e+00] [-2.11345175e-03 9.99987134e-01 4.61131984e-03 5.74204281e-02] [ 1.55276359e-02 -4.57795756e-03 9.99868959e-01 -1.32660727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15719347 meters Centerline goodness [0,1] 0.9048949579831933 Centerline is valid? [False, False] Translation: X:4.32, Y:0.06, Z:-1.33 [[ 9.99877990e-01 -1.09349593e-03 -1.55823316e-02 4.32254088e+00] [ 1.11820093e-03 9.99998132e-01 1.57682542e-03 5.50663815e-02] [ 1.55805782e-02 -1.59405721e-03 9.99877345e-01 -1.32675886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18719347 meters Centerline goodness [0,1] 0.9054164142627368 Centerline is valid? [False, False] Translation: X:4.33, Y:0.05, Z:-1.33 [[ 0.99992841 -0.00553413 -0.0106089 4.33483168] [ 0.00561757 0.9999534 0.0078513 0.05086315] [ 0.01056496 -0.00791033 0.9999129 -1.33108609] [ 0. 0. 0. 1. ]] SLAMing on 105.21719347 meters Centerline goodness [0,1] 0.9023502430197572 Centerline is valid? [False, False] Translation: X:4.33, Y:0.04, Z:-1.33 [[ 0.99989592 -0.01008039 -0.01032179 4.33334804] [ 0.01013148 0.99993662 0.00491001 0.04375759] [ 0.01027164 -0.00501407 0.99993467 -1.32982842] [ 0. 0. 0. 1. ]] SLAMing on 105.24719347 meters Centerline goodness [0,1] 0.9028203942667395 Centerline is valid? [False, False] Translation: X:4.33, Y:0.04, Z:-1.33 [[ 0.99988636 -0.0110482 -0.01025687 4.33257828] [ 0.01110042 0.99992565 0.00504818 0.03929109] [ 0.01020033 -0.00516146 0.99993465 -1.32908989] [ 0. 0. 0. 1. ]] SLAMing on 105.27719347 meters Centerline goodness [0,1] 0.8991543607219488 Centerline is valid? [False, False] Translation: X:4.33, Y:0.04, Z:-1.33 [[ 9.99837770e-01 -1.46620174e-02 -1.04622308e-02 4.33299569e+00] [ 1.46849750e-02 9.99889921e-01 2.12088467e-03 3.63970632e-02] [ 1.04299827e-02 -2.27417820e-03 9.99943020e-01 -1.32891819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30719347 meters Centerline goodness [0,1] 0.8936398435199596 Centerline is valid? [False, False] Translation: X:4.33, Y:0.03, Z:-1.33 [[ 9.99702293e-01 -2.19266739e-02 -1.07025946e-02 4.33376981e+00] [ 2.18906276e-02 9.99754337e-01 -3.47361773e-03 2.90469646e-02] [ 1.07761302e-02 3.23829710e-03 9.99936692e-01 -1.32918647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33719347 meters Centerline goodness [0,1] 0.8876139048261896 Centerline is valid? [False, False] Translation: X:4.33, Y:0.02, Z:-1.33 [[ 0.99961512 -0.02561256 -0.01065915 4.33383916] [ 0.02554628 0.99965373 -0.00630913 0.02492715] [ 0.01081705 0.0060344 0.99992329 -1.32910338] [ 0. 0. 0. 1. ]] SLAMing on 105.36719347 meters Centerline goodness [0,1] 0.8755296945164759 Centerline is valid? [False, False] Translation: X:4.33, Y:0.02, Z:-1.33 [[ 0.99951595 -0.02926591 -0.01055368 4.3335377 ] [ 0.02916919 0.99953211 -0.00920438 0.0212156 ] [ 0.01081812 0.00889208 0.99990194 -1.32860025] [ 0. 0. 0. 1. ]] SLAMing on 105.39719347 meters Centerline goodness [0,1] 0.8599005310629689 Centerline is valid? [False, False] Translation: X:4.33, Y:0.02, Z:-1.33 [[ 0.99951679 -0.02923029 -0.01057242 4.33335006] [ 0.02914651 0.99954319 -0.0079937 0.01680706] [ 0.01080125 0.00768169 0.99991216 -1.32843652] [ 0. 0. 0. 1. ]] SLAMing on 105.42719347 meters Centerline goodness [0,1] 0.8506449850834068 Centerline is valid? [False, False] Translation: X:4.33, Y:0.01, Z:-1.33 [[ 0.99953244 -0.02862297 -0.01075334 4.33373384] [ 0.02855589 0.99957209 -0.00634003 0.01297926] [ 0.01093021 0.00603 0.99992208 -1.32851586] [ 0. 0. 0. 1. ]] SLAMing on 105.45719347 meters Centerline goodness [0,1] 0.8539588331860084 Centerline is valid? [False, False] Translation: X:4.33, Y:0.01, Z:-1.33 [[ 9.99642901e-01 -2.43802989e-02 -1.09394184e-02 4.33443451e+00] [ 2.43685167e-02 9.99702312e-01 -1.20906748e-03 9.37313212e-03] [ 1.09656393e-02 9.42058328e-04 9.99939432e-01 -1.32945371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48719347 meters Centerline goodness [0,1] 0.8592934269839606 Centerline is valid? [False, False] Translation: X:4.34, Y:0.01, Z:-1.33 [[ 9.99666923e-01 -2.31977186e-02 -1.13096972e-02 4.33646244e+00] [ 2.32033070e-02 9.99730701e-01 3.63147822e-04 6.52641451e-03] [ 1.12982273e-02 -6.25449242e-04 9.99935977e-01 -1.33118699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51719347 meters Centerline goodness [0,1] 0.8698695111410923 Centerline is valid? [False, False] Translation: X:4.34, Y:0.00, Z:-1.33 [[ 9.99682015e-01 -2.25275673e-02 -1.13303713e-02 4.33704462e+00] [ 2.25450753e-02 9.99744819e-01 1.41987097e-03 3.30764165e-03] [ 1.12954937e-02 -1.67486354e-03 9.99934801e-01 -1.33188032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54719347 meters Centerline goodness [0,1] 0.8768637856962345 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.00, Z:-1.33 [[ 9.99713821e-01 -2.10709203e-02 -1.13266301e-02 4.33805215e+00] [ 2.11128138e-02 9.99770647e-01 3.59189224e-03 -2.42267722e-03] [ 1.12483479e-02 -3.83000135e-03 9.99929400e-01 -1.33298119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57719347 meters Centerline goodness [0,1] 0.8873574845630229 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.00, Z:-1.33 [[ 9.99721214e-01 -2.06545606e-02 -1.14404164e-02 4.33789486e+00] [ 2.07034849e-02 9.99776944e-01 4.17463692e-03 -3.37254255e-03] [ 1.13516392e-02 -4.41032957e-03 9.99925842e-01 -1.33232319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60719347 meters Centerline goodness [0,1] 0.875552934237688 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.00, Z:-1.33 [[ 9.99730338e-01 -2.01178915e-02 -1.15983706e-02 4.33795862e+00] [ 2.01748462e-02 9.99784874e-01 4.81466415e-03 -3.92272526e-03] [ 1.14990146e-02 -5.04736116e-03 9.99921145e-01 -1.33184829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63719347 meters Centerline goodness [0,1] 0.8806010986466861 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.01, Z:-1.33 [[ 0.99975747 -0.01854288 -0.01188123 4.33958061] [ 0.01862632 0.99980235 0.0069509 -0.0081717 ] [ 0.01175 -0.00717052 0.99990526 -1.33310668] [ 0. 0. 0. 1. ]] SLAMing on 105.66719347 meters Centerline goodness [0,1] 0.8825757575757576 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.01, Z:-1.33 [[ 0.99976707 -0.01794094 -0.01199693 4.34117555] [ 0.01803781 0.99980517 0.00801608 -0.01155543] [ 0.01185078 -0.00823061 0.9998959 -1.33485152] [ 0. 0. 0. 1. ]] SLAMing on 105.69719347 meters Centerline goodness [0,1] 0.8825757575757576 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.01, Z:-1.33 [[ 0.99976707 -0.01794094 -0.01199693 4.34117555] [ 0.01803781 0.99980517 0.00801608 -0.01155543] [ 0.01185078 -0.00823061 0.9998959 -1.33485152] [ 0. 0. 0. 1. ]] SLAMing on 105.72719347 meters Centerline goodness [0,1] 0.8932650566864753 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.01, Z:-1.34 [[ 0.99977776 -0.01730245 -0.01204351 4.34229915] [ 0.01741181 0.99980757 0.00903614 -0.01473258] [ 0.01188485 -0.00924383 0.99988664 -1.33615515] [ 0. 0. 0. 1. ]] SLAMing on 105.75719347 meters Centerline goodness [0,1] 0.9038000756652235 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.34 [[ 0.99974729 -0.0187605 -0.01238578 4.34495491] [ 0.01885048 0.99979647 0.0071888 -0.01606265] [ 0.0122484 -0.00742046 0.99989745 -1.3380233 ] [ 0. 0. 0. 1. ]] SLAMing on 105.78719347 meters Centerline goodness [0,1] 0.90616559756921 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.34 [[ 0.99976356 -0.01791959 -0.01231694 4.34509688] [ 0.01801935 0.99980534 0.00803648 -0.0178277 ] [ 0.01217053 -0.00825652 0.99989185 -1.33816939] [ 0. 0. 0. 1. ]] SLAMing on 105.81719347 meters Centerline goodness [0,1] 0.9089509752240379 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.34 [[ 0.99977341 -0.01722689 -0.01250485 4.3452101 ] [ 0.01733253 0.99981459 0.00838904 -0.01821984] [ 0.01235802 -0.00860388 0.99988662 -1.33752559] [ 0. 0. 0. 1. ]] SLAMing on 105.84719347 meters Centerline goodness [0,1] 0.9130298075713746 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.34 [[ 0.99984806 -0.01241315 -0.01223784 4.34392592] [ 0.01256918 0.99983963 0.01275642 -0.01835741] [ 0.01207753 -0.0129083 0.99984374 -1.33592837] [ 0. 0. 0. 1. ]] SLAMing on 105.87719347 meters Centerline goodness [0,1] 0.9151906428825959 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.34 [[ 0.99985196 -0.01182835 -0.01249599 4.34455445] [ 0.01199069 0.99984364 0.01299675 -0.01821117] [ 0.0123403 -0.01314466 0.99983745 -1.33590316] [ 0. 0. 0. 1. ]] SLAMing on 105.90719347 meters Centerline goodness [0,1] 0.9145441511343511 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.34 [[ 0.99985499 -0.01162052 -0.01244836 4.34470353] [ 0.01178589 0.99984216 0.01329451 -0.02014029] [ 0.01229191 -0.0134393 0.99983413 -1.33612484] [ 0. 0. 0. 1. ]] SLAMing on 105.93719347 meters Centerline goodness [0,1] 0.9138925129413745 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.34 [[ 0.99981452 -0.01441181 -0.01277605 4.34648456] [ 0.01454667 0.99983879 0.01052599 -0.02266298] [ 0.01262229 -0.01070988 0.99986298 -1.33729453] [ 0. 0. 0. 1. ]] SLAMing on 105.96719347 meters Centerline goodness [0,1] 0.9124363087374976 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.34 [[ 0.99968796 -0.02135218 -0.01296406 4.34860507] [ 0.02141526 0.9997594 0.0047471 -0.02823392] [ 0.01285958 -0.00502325 0.99990469 -1.33915324] [ 0. 0. 0. 1. ]] SLAMing on 105.99719347 meters Centerline goodness [0,1] 0.9136618422153434 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.34 [[ 0.99965996 -0.02240805 -0.01333582 4.34958547] [ 0.02247796 0.99973425 0.00511582 -0.03217264] [ 0.01321764 -0.00541384 0.99989799 -1.33978255] [ 0. 0. 0. 1. ]] SLAMing on 106.02719347 meters Centerline goodness [0,1] 0.8880370981555366 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.04, Z:-1.34 [[ 9.99429396e-01 -3.10285520e-02 -1.33458678e-02 4.34967254e+00] [ 3.10099960e-02 9.99517802e-01 -1.59513854e-03 -3.61940660e-02] [ 1.33889273e-02 1.18037304e-03 9.99909668e-01 -1.33945520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05719347 meters Centerline goodness [0,1] 0.8782850991070863 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.04, Z:-1.34 [[ 9.99294158e-01 -3.50954634e-02 -1.33975829e-02 4.35037600e+00] [ 3.50340270e-02 9.99374626e-01 -4.79318301e-03 -3.89595776e-02] [ 1.35574233e-02 4.32042849e-03 9.99898760e-01 -1.33997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08719347 meters Centerline goodness [0,1] 0.8384479197403364 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.04, Z:-1.34 [[ 0.99915312 -0.03880355 -0.01368672 4.35195308] [ 0.03870194 0.9992218 -0.00761273 -0.04211578] [ 0.01397147 0.00707658 0.99987735 -1.3410083 ] [ 0. 0. 0. 1. ]] SLAMing on 106.11719347 meters Centerline goodness [0,1] 0.8476078464317218 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.05, Z:-1.34 [[ 0.99901519 -0.04207807 -0.01407422 4.35411894] [ 0.04193751 0.99906881 -0.01013734 -0.04532795] [ 0.01448767 0.00953712 0.99984956 -1.34254748] [ 0. 0. 0. 1. ]] SLAMing on 106.14719347 meters Centerline goodness [0,1] 0.7959650669689717 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.35 [[ 0.99885812 -0.04550574 -0.01454967 4.35695202] [ 0.04533071 0.99889825 -0.01214137 -0.05014759] [ 0.01508615 0.01146796 0.99982043 -1.34500586] [ 0. 0. 0. 1. ]] SLAMing on 106.17719347 meters Centerline goodness [0,1] 0.8037562851227448 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.35 [[ 0.99885506 -0.04552863 -0.01468702 4.35756721] [ 0.0453589 0.99890236 -0.0116898 -0.05132731] [ 0.01520312 0.01101023 0.9998238 -1.34554413] [ 0. 0. 0. 1. ]] SLAMing on 106.20719347 meters Centerline goodness [0,1] 0.8073349942992272 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.35 [[ 0.99899134 -0.04231268 -0.01503148 4.35806137] [ 0.04220385 0.99908098 -0.00748545 -0.05356126] [ 0.0153344 0.00684351 0.999859 -1.34600832] [ 0. 0. 0. 1. ]] SLAMing on 106.23719347 meters Centerline goodness [0,1] 0.788323940986513 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:-1.35 [[ 9.99118702e-01 -3.90757762e-02 -1.53265261e-02 4.35828983e+00] [ 3.90296613e-02 9.99232615e-01 -3.29660684e-03 -5.59287294e-02] [ 1.54435822e-02 2.69551242e-03 9.99877107e-01 -1.34615266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26719347 meters Centerline goodness [0,1] 0.7815578006032101 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:-1.35 [[ 9.99094098e-01 -3.97458584e-02 -1.52068805e-02 4.35766804e+00] [ 3.96997456e-02 9.99206131e-01 -3.32243906e-03 -5.74525280e-02] [ 1.53268614e-02 2.71571997e-03 9.99878849e-01 -1.34559256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29719347 meters Centerline goodness [0,1] 0.7808617889608336 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:-1.35 [[ 9.99081893e-01 -4.00353857e-02 -1.52492332e-02 4.35788069e+00] [ 3.99878253e-02 9.99194344e-01 -3.41123913e-03 -5.77218250e-02] [ 1.53735178e-02 2.79832358e-03 9.99877905e-01 -1.34574764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32719347 meters Centerline goodness [0,1] 0.7671241554054054 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:-1.35 [[ 9.99180063e-01 -3.75428006e-02 -1.51571503e-02 4.35759367e+00] [ 3.75437681e-02 9.99294960e-01 -2.20804139e-04 -5.88145119e-02] [ 1.51547535e-02 -3.48433444e-04 9.99885099e-01 -1.34604599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35719347 meters Centerline goodness [0,1] 0.7654204232604082 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:-1.35 [[ 9.99161905e-01 -3.79761892e-02 -1.52740780e-02 4.35801626e+00] [ 3.79709143e-02 9.99278643e-01 -6.35312747e-04 -5.79551074e-02] [ 1.52871867e-02 5.48095868e-05 9.99883143e-01 -1.34625284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38719347 meters Centerline goodness [0,1] 0.7541346255135363 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:-1.35 [[ 9.99129592e-01 -3.88802561e-02 -1.51124110e-02 4.35750848e+00] [ 3.88583541e-02 9.99243213e-01 -1.74033481e-03 -5.58662545e-02] [ 1.51686388e-02 1.15157660e-03 9.99884286e-01 -1.34587742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41719347 meters Centerline goodness [0,1] 0.7622523681934218 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:-1.35 [[ 9.99254012e-01 -3.55989728e-02 -1.49710574e-02 4.35692435e+00] [ 3.56280415e-02 9.99363709e-01 1.67936474e-03 -5.55167199e-02] [ 1.49017478e-02 -2.21150141e-03 9.99886517e-01 -1.34579317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44719347 meters Centerline goodness [0,1] 0.7755708147274413 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.35 [[ 0.99936091 -0.03247298 -0.01494263 4.3563861 ] [ 0.03254551 0.9994595 0.00463616 -0.05375358] [ 0.01478401 -0.00511951 0.9998776 -1.34542598] [ 0. 0. 0. 1. ]] SLAMing on 106.47719347 meters Centerline goodness [0,1] 0.7631501430735567 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.34 [[ 0.99939099 -0.03139108 -0.01523966 4.35654414] [ 0.03147171 0.99949173 0.00508037 -0.04961188] [ 0.01507244 -0.00555689 0.99987096 -1.34488702] [ 0. 0. 0. 1. ]] SLAMing on 106.50719347 meters Centerline goodness [0,1] 0.7945073375262055 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.04, Z:-1.34 [[ 0.99957653 -0.02481548 -0.015197 4.35521041] [ 0.02497068 0.99963706 0.01010962 -0.04204656] [ 0.01494061 -0.01048482 0.99983341 -1.3433691 ] [ 0. 0. 0. 1. ]] SLAMing on 106.53719347 meters Centerline goodness [0,1] 0.807130973190405 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.04, Z:-1.34 [[ 0.99965165 -0.02150035 -0.01530718 4.35515493] [ 0.02169651 0.99968309 0.01276664 -0.03888729] [ 0.01502784 -0.0130943 0.99980133 -1.34326908] [ 0. 0. 0. 1. ]] SLAMing on 106.56719347 meters Centerline goodness [0,1] 0.8055910108597854 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.04, Z:-1.34 [[ 0.99965314 -0.02098711 -0.01591063 4.35758925] [ 0.02118497 0.99969904 0.01237074 -0.03509254] [ 0.01564622 -0.01270352 0.99979689 -1.34484764] [ 0. 0. 0. 1. ]] SLAMing on 106.59719347 meters Centerline goodness [0,1] 0.8275273439969653 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.03, Z:-1.35 [[ 0.99965176 -0.02079435 -0.01624638 4.35990738] [ 0.0209739 0.99971994 0.01096049 -0.02860345] [ 0.01601391 -0.01129742 0.99980794 -1.34685531] [ 0. 0. 0. 1. ]] SLAMing on 106.62719347 meters Centerline goodness [0,1] 0.8271732050177555 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.03, Z:-1.35 [[ 0.99963632 -0.02141326 -0.01639206 4.3602741 ] [ 0.02157313 0.99972081 0.00963853 -0.02505606] [ 0.01618109 -0.00998865 0.99981918 -1.34691705] [ 0. 0. 0. 1. ]] SLAMing on 106.65719347 meters Centerline goodness [0,1] 0.8245890612519443 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.35 [[ 0.99962222 -0.02210275 -0.01633633 4.35984018] [ 0.0222398 0.99971858 0.00825569 -0.02088086] [ 0.01614926 -0.00861589 0.99983247 -1.3463654 ] [ 0. 0. 0. 1. ]] SLAMing on 106.68719347 meters Centerline goodness [0,1] 0.8025507197575553 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.35 [[ 0.99960312 -0.02286747 -0.01645266 4.3595528 ] [ 0.02298472 0.9997115 0.00697299 -0.01681775] [ 0.01628846 -0.00734838 0.99984033 -1.34568421] [ 0. 0. 0. 1. ]] SLAMing on 106.71719347 meters Centerline goodness [0,1] 0.8009927228368316 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.01, Z:-1.35 [[ 0.99957481 -0.02388408 -0.01672592 4.36028774] [ 0.02398281 0.99969597 0.00572704 -0.01274371] [ 0.01658405 -0.00612574 0.99984371 -1.34608595] [ 0. 0. 0. 1. ]] SLAMing on 106.74719347 meters Centerline goodness [0,1] 0.7691713629722396 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.01, Z:-1.35 [[ 9.99465600e-01 -2.77747586e-02 -1.72359131e-02 4.36311393e+00] [ 2.78116046e-02 9.99611374e-01 1.90169609e-03 -1.17213625e-02] [ 1.71763956e-02 -2.38003823e-03 9.99849642e-01 -1.34832876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77719347 meters Centerline goodness [0,1] 0.7622575770296365 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.01, Z:-1.35 [[ 9.99448938e-01 -2.83294790e-02 -1.72991359e-02 4.36380626e+00] [ 2.83596587e-02 9.99596656e-01 1.50171119e-03 -1.09945661e-02] [ 1.72496157e-02 -1.99148125e-03 9.99849231e-01 -1.34918079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80719347 meters Centerline goodness [0,1] 0.7452909167015488 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.35 [[ 9.99442541e-01 -2.82863991e-02 -1.77337593e-02 4.36605930e+00] [ 2.83213084e-02 9.99597391e-01 1.72042579e-03 -9.81742833e-03] [ 1.76779548e-02 -2.22170999e-03 9.99841264e-01 -1.35112997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83719347 meters Centerline goodness [0,1] 0.7435222245628819 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.35 [[ 9.99427194e-01 -2.86724852e-02 -1.79770168e-02 4.36714123e+00] [ 2.86977277e-02 9.99587477e-01 1.14770495e-03 -7.48550414e-03] [ 1.79366933e-02 -1.66294707e-03 9.99837742e-01 -1.35201483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86719347 meters Centerline goodness [0,1] 0.7371385498021316 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.35 [[ 9.99425596e-01 -2.84334385e-02 -1.84395433e-02 4.36930205e+00] [ 2.84604229e-02 9.99594197e-01 1.20257902e-03 -5.37319083e-03] [ 1.83978670e-02 -1.72668545e-03 9.99829254e-01 -1.35362687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89719347 meters Centerline goodness [0,1] 0.750236220472441 Centerline is valid? [False, False] Translation: X:4.37, Y:0.00, Z:-1.35 [[ 9.99487445e-01 -2.64260123e-02 -1.80696612e-02 4.36721745e+00] [ 2.64734310e-02 9.99646660e-01 2.39002675e-03 4.63014258e-04] [ 1.80001176e-02 -2.86716766e-03 9.99833874e-01 -1.35203875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92719347 meters Centerline goodness [0,1] 0.7493775759984936 Centerline is valid? [False, False] Translation: X:4.37, Y:0.01, Z:-1.35 [[ 9.99476347e-01 -2.65421162e-02 -1.85080609e-02 4.36796639e+00] [ 2.65681441e-02 9.99646329e-01 1.16179197e-03 5.63896850e-03] [ 1.84706787e-02 -1.65290842e-03 9.99828036e-01 -1.35160773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95719347 meters Centerline goodness [0,1] 0.765261673786326 Centerline is valid? [False, False] Translation: X:4.37, Y:0.01, Z:-1.35 [[ 9.99553210e-01 -2.34410091e-02 -1.85445347e-02 4.36717228e+00] [ 2.35095620e-02 9.99717530e-01 3.48730316e-03 9.65310026e-03] [ 1.84575505e-02 -3.92171895e-03 9.99821954e-01 -1.35067568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98719347 meters Centerline goodness [0,1] 0.7751812885107097 Centerline is valid? [False, False] Translation: X:4.37, Y:0.02, Z:-1.35 [[ 0.99962832 -0.0191216 -0.0194316 4.36935822] [ 0.01921981 0.99980337 0.00487978 0.01909102] [ 0.01933447 -0.00525144 0.99979928 -1.35043023] [ 0. 0. 0. 1. ]] SLAMing on 107.01719347 meters Centerline goodness [0,1] 0.7830887755316246 Centerline is valid? [False, False] Translation: X:4.37, Y:0.02, Z:-1.35 [[ 0.99968478 -0.01547533 -0.01976991 4.37026209] [ 0.01562777 0.99984915 0.00757992 0.02263716] [ 0.01964963 -0.00788649 0.99977582 -1.35088252] [ 0. 0. 0. 1. ]] SLAMing on 107.04719347 meters Centerline goodness [0,1] 0.8246484350366805 Centerline is valid? [False, False] Translation: X:4.37, Y:0.03, Z:-1.35 [[ 0.99973245 -0.01164173 -0.01998758 4.37067038] [ 0.01184913 0.99987686 0.01028942 0.02688955] [ 0.01986533 -0.0105235 0.99974728 -1.3508759 ] [ 0. 0. 0. 1. ]] SLAMing on 107.07719347 meters Centerline goodness [0,1] 0.8369894811685732 Centerline is valid? [False, False] Translation: X:4.37, Y:0.03, Z:-1.35 [[ 0.99976628 -0.00748955 -0.0202801 4.37116264] [ 0.00775234 0.9998866 0.01291069 0.03261072] [ 0.02018111 -0.01306489 0.99971097 -1.35039574] [ 0. 0. 0. 1. ]] SLAMing on 107.10719347 meters Centerline goodness [0,1] 0.8834402112410411 Centerline is valid? [False, False] Translation: X:4.37, Y:0.04, Z:-1.35 [[ 9.99786641e-01 4.22713495e-03 -2.02189057e-02 4.36990918e+00] [-3.81812053e-03 9.99788157e-01 2.02253064e-02 4.33401950e-02] [ 2.03001176e-02 -2.01437929e-02 9.99590983e-01 -1.34602679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13719347 meters Centerline goodness [0,1] 0.9030060962791675 Centerline is valid? [False, False] Translation: X:4.37, Y:0.05, Z:-1.35 [[ 0.99975447 0.00843628 -0.02048978 4.37055332] [-0.00795707 0.9996955 0.02335771 0.04698696] [ 0.0206806 -0.02318894 0.99951718 -1.34597968] [ 0. 0. 0. 1. ]] SLAMing on 107.16719347 meters Centerline goodness [0,1] 0.910326144024193 Centerline is valid? [False, False] Translation: X:4.37, Y:0.05, Z:-1.35 [[ 0.99973072 0.00975283 -0.02105615 4.37288033] [-0.00925939 0.99968316 0.02340605 0.05063475] [ 0.02127775 -0.02320478 0.99950427 -1.34708145] [ 0. 0. 0. 1. ]] SLAMing on 107.19719347 meters Centerline goodness [0,1] 0.9095800580100046 Centerline is valid? [False, False] Translation: X:4.37, Y:0.05, Z:-1.35 [[ 0.99972076 0.01012681 -0.02135043 4.37398661] [-0.00963589 0.99968967 0.02297203 0.0530415 ] [ 0.02157644 -0.02275988 0.9995081 -1.3475993 ] [ 0. 0. 0. 1. ]] SLAMing on 107.22719347 meters Centerline goodness [0,1] 0.9097554827325435 Centerline is valid? [False, False] Translation: X:4.37, Y:0.06, Z:-1.35 [[ 0.99972509 0.00989395 -0.02125685 4.37347754] [-0.0094229 0.99971031 0.02214732 0.05521251] [ 0.02146981 -0.02194093 0.99952871 -1.34682717] [ 0. 0. 0. 1. ]] SLAMing on 107.25719347 meters Centerline goodness [0,1] 0.9165207238762405 Centerline is valid? [False, False] Translation: X:4.37, Y:0.06, Z:-1.35 [[ 0.99975725 0.00566867 -0.02129097 4.37269804] [-0.00529954 0.99983536 0.0173542 0.05755163] [ 0.02138584 -0.01723716 0.99962269 -1.34522107] [ 0. 0. 0. 1. ]] SLAMing on 107.28719347 meters Centerline goodness [0,1] 0.9078839568934731 Centerline is valid? [False, False] Translation: X:4.37, Y:0.06, Z:-1.34 [[ 9.99771086e-01 4.34291355e-03 -2.09502696e-02 4.37041802e+00] [-4.00311635e-03 9.99860207e-01 1.62339896e-02 5.78548905e-02] [ 2.10178437e-02 -1.61464070e-02 9.99648710e-01 -1.34316473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31719347 meters Centerline goodness [0,1] 0.9147810755215986 Centerline is valid? [False, False] Translation: X:4.37, Y:0.06, Z:-1.34 [[ 9.99775954e-01 7.47265439e-05 -2.11668741e-02 4.37023817e+00] [ 1.72980812e-04 9.99931532e-01 1.17005223e-02 5.92819436e-02] [ 2.11662992e-02 -1.17015623e-02 9.99707488e-01 -1.34213948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34719347 meters Centerline goodness [0,1] 0.8922546898304728 Centerline is valid? [False, False] Translation: X:4.37, Y:0.06, Z:-1.34 [[ 9.99761288e-01 -3.67770850e-03 -2.15369744e-02 4.37216945e+00] [ 3.85982568e-03 9.99957097e-01 8.42056889e-03 5.67173939e-02] [ 2.15050820e-02 -8.50168777e-03 9.99732591e-01 -1.34382012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37719347 meters Centerline goodness [0,1] 0.9062736205593348 Centerline is valid? [False, False] Translation: X:4.37, Y:0.06, Z:-1.35 [[ 0.99973911 -0.00685258 -0.02178905 4.37415161] [ 0.00697143 0.99996121 0.00538343 0.05516864] [ 0.02175132 -0.00553392 0.9997481 -1.34555496] [ 0. 0. 0. 1. ]] SLAMing on 107.40719347 meters Centerline goodness [0,1] 0.9064360706095226 Centerline is valid? [False, False] Translation: X:4.37, Y:0.05, Z:-1.35 [[ 0.99973369 -0.00722006 -0.02191826 4.37449351] [ 0.00734423 0.99995741 0.00559015 0.0531361 ] [ 0.02187696 -0.00574964 0.99974414 -1.34589511] [ 0. 0. 0. 1. ]] SLAMing on 107.43719347 meters Centerline goodness [0,1] 0.8964176909339217 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99972396 -0.00749883 -0.02226584 4.37534354] [ 0.00763158 0.99995357 0.00588308 0.05264936] [ 0.02222069 -0.00605138 0.99973478 -1.34629381] [ 0. 0. 0. 1. ]] SLAMing on 107.46719347 meters Centerline goodness [0,1] 0.8909311419191602 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99971538 -0.00738675 -0.02268463 4.37623873] [ 0.00752655 0.99995317 0.00608354 0.05265972] [ 0.02263863 -0.00625255 0.99972416 -1.34640976] [ 0. 0. 0. 1. ]] SLAMing on 107.49719347 meters Centerline goodness [0,1] 0.8838638216054672 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.9997112 -0.00739191 -0.02286669 4.37661292] [ 0.0075358 0.9999523 0.00621297 0.05180157] [ 0.02281968 -0.00638349 0.99971922 -1.34642394] [ 0. 0. 0. 1. ]] SLAMing on 107.52719347 meters Centerline goodness [0,1] 0.8452987881320518 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99970897 -0.00726969 -0.02300271 4.37713382] [ 0.00742139 0.99995123 0.00651655 0.05029102] [ 0.02295421 -0.00668537 0.99971416 -1.34674494] [ 0. 0. 0. 1. ]] SLAMing on 107.55719347 meters Centerline goodness [0,1] 0.8884763791844822 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99969132 -0.00811722 -0.02348127 4.38150131] [ 0.00824699 0.99995122 0.00543518 0.04876191] [ 0.023436 -0.00562715 0.9997095 -1.35033152] [ 0. 0. 0. 1. ]] SLAMing on 107.58719347 meters Centerline goodness [0,1] 0.8868113731798525 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99968694 -0.00811784 -0.02366671 4.38199713] [ 0.00825331 0.99995008 0.005632 0.04794906] [ 0.02361981 -0.00582557 0.99970404 -1.35056136] [ 0. 0. 0. 1. ]] SLAMing on 107.61719347 meters Centerline goodness [0,1] 0.879239335994957 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99968436 -0.00826661 -0.02372431 4.38192505] [ 0.00840388 0.99994849 0.00569202 0.04715623] [ 0.02367603 -0.0058896 0.99970233 -1.35029825] [ 0. 0. 0. 1. ]] SLAMing on 107.64719347 meters Centerline goodness [0,1] 0.879239335994957 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99968436 -0.00826661 -0.02372431 4.38192505] [ 0.00840388 0.99994849 0.00569202 0.04715623] [ 0.02367603 -0.0058896 0.99970233 -1.35029825] [ 0. 0. 0. 1. ]] SLAMing on 107.67719347 meters Centerline goodness [0,1] 0.897608339287966 Centerline is valid? [False, False] Translation: X:4.38, Y:0.05, Z:-1.35 [[ 0.99968139 -0.00854049 -0.02375248 4.38168654] [ 0.00867788 0.99994617 0.00568702 0.04621609] [ 0.02370263 -0.00589133 0.99970169 -1.34987383] [ 0. 0. 0. 1. ]] SLAMing on 107.70719347 meters Centerline goodness [0,1] 0.8922682686046756 Centerline is valid? [False, False] Translation: X:4.38, Y:0.04, Z:-1.35 [[ 9.99642123e-01 -1.22116894e-02 -2.38012535e-02 4.38184972e+00] [ 1.22780974e-02 9.99921120e-01 2.64596075e-03 4.28503425e-02] [ 2.37670644e-02 -2.93724793e-03 9.99713208e-01 -1.34968929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73719347 meters Centerline goodness [0,1] 0.8876536723757487 Centerline is valid? [False, False] Translation: X:4.38, Y:0.04, Z:-1.35 [[ 9.99592236e-01 -1.55393833e-02 -2.39559961e-02 4.38281658e+00] [ 1.55339637e-02 9.99879256e-01 -4.12318961e-04 4.09524447e-02] [ 2.39595107e-02 4.00192577e-05 9.99712929e-01 -1.35023506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76719347 meters Centerline goodness [0,1] 0.8785101731965697 Centerline is valid? [False, False] Translation: X:4.38, Y:0.04, Z:-1.35 [[ 9.99592746e-01 -1.56524597e-02 -2.38609109e-02 4.38251853e+00] [ 1.56631596e-02 9.99877291e-01 2.61584461e-04 3.77697868e-02] [ 2.38538885e-02 -6.35215184e-04 9.99715254e-01 -1.35010683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79719347 meters Centerline goodness [0,1] 0.8599508087377021 Centerline is valid? [False, False] Translation: X:4.39, Y:0.03, Z:-1.35 [[ 0.99966252 -0.01988968 -0.01671082 4.39013532] [ 0.02000002 0.9997791 0.00646198 0.03396069] [ 0.0165786 -0.00679402 0.99983948 -1.35099384] [ 0. 0. 0. 1. ]] SLAMing on 107.82719347 meters Centerline goodness [0,1] 0.8578783675871055 Centerline is valid? [False, False] Translation: X:4.39, Y:0.03, Z:-1.35 [[ 0.99965388 -0.02035605 -0.01666603 4.38902327] [ 0.02046105 0.99977171 0.00615389 0.03396758] [ 0.01653696 -0.00649277 0.99984217 -1.34957747] [ 0. 0. 0. 1. ]] SLAMing on 107.85719347 meters Centerline goodness [0,1] 0.8446245092306407 Centerline is valid? [False, False] Translation: X:4.39, Y:0.03, Z:-1.35 [[ 0.99964588 -0.02056736 -0.01688513 4.38909097] [ 0.02067433 0.99976713 0.00618534 0.03368896] [ 0.01675399 -0.00653224 0.9998383 -1.34906415] [ 0. 0. 0. 1. ]] SLAMing on 107.88719347 meters Centerline goodness [0,1] 0.8311617465013323 Centerline is valid? [False, False] Translation: X:4.39, Y:0.03, Z:-1.35 [[ 9.99564137e-01 -2.42255559e-02 -1.68718422e-02 4.38952426e+00] [ 2.42792748e-02 9.99700754e-01 2.98638532e-03 3.13486792e-02] [ 1.67944466e-02 -3.39471976e-03 9.99853200e-01 -1.34934125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91719347 meters Centerline goodness [0,1] 0.8109154855862835 Centerline is valid? [False, False] Translation: X:4.39, Y:0.03, Z:-1.35 [[ 9.99567621e-01 -2.39707040e-02 -1.70286644e-02 4.39082311e+00] [ 2.40426637e-02 9.99702796e-01 4.03368781e-03 2.76521719e-02] [ 1.69269131e-02 -4.44135818e-03 9.99846865e-01 -1.35079816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94719347 meters Centerline goodness [0,1] 0.7897169751854265 Centerline is valid? [False, False] Translation: X:4.39, Y:0.03, Z:-1.35 [[ 9.99562764e-01 -2.42624910e-02 -1.69000837e-02 4.39105815e+00] [ 2.43396678e-02 9.99694169e-01 4.37600755e-03 2.50443014e-02] [ 1.67887423e-02 -4.78543662e-03 9.99847607e-01 -1.35150947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97719347 meters Centerline goodness [0,1] 0.7827016602381351 Centerline is valid? [False, False] Translation: X:4.39, Y:0.02, Z:-1.35 [[ 0.99956702 -0.02402583 -0.01698645 4.3921616 ] [ 0.02411566 0.99969615 0.00510346 0.02347804] [ 0.01685867 -0.00551089 0.9998427 -1.35277742] [ 0. 0. 0. 1. ]] SLAMing on 108.00719347 meters Centerline goodness [0,1] 0.7895906261135682 Centerline is valid? [False, False] Translation: X:4.39, Y:0.02, Z:-1.35 [[ 0.99957218 -0.02350087 -0.01741174 4.39421263] [ 0.02360745 0.99970365 0.00594112 0.02349868] [ 0.01726696 -0.00634963 0.99983075 -1.35445328] [ 0. 0. 0. 1. ]] SLAMing on 108.03719347 meters Centerline goodness [0,1] 0.8109339886165543 Centerline is valid? [False, False] Translation: X:4.39, Y:0.02, Z:-1.35 [[ 0.99957039 -0.02339337 -0.01765751 4.39492966] [ 0.02350027 0.99970659 0.00587096 0.0244901 ] [ 0.01751499 -0.0062834 0.99982686 -1.35470372] [ 0. 0. 0. 1. ]] SLAMing on 108.06719347 meters Centerline goodness [0,1] 0.8078848823999664 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99957223 -0.02311765 -0.01791435 4.39576639] [ 0.02322575 0.99971313 0.00584984 0.02557271] [ 0.01777397 -0.00626341 0.99982241 -1.35507364] [ 0. 0. 0. 1. ]] SLAMing on 108.09719347 meters Centerline goodness [0,1] 0.8239153750709765 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99957814 -0.02269354 -0.01812609 4.39679552] [ 0.02280356 0.99972264 0.00588631 0.02619004] [ 0.01798748 -0.00629716 0.99981838 -1.35578301] [ 0. 0. 0. 1. ]] SLAMing on 108.12719347 meters Centerline goodness [0,1] 0.7960436418676029 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99958375 -0.02231322 -0.01828771 4.39804242] [ 0.02243269 0.99972816 0.00635403 0.02516585] [ 0.01814096 -0.00676162 0.99981258 -1.35701012] [ 0. 0. 0. 1. ]] SLAMing on 108.15719347 meters Centerline goodness [0,1] 0.8161515998235257 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99958654 -0.0220967 -0.01839786 4.39889565] [ 0.02222016 0.99973175 0.00653357 0.02517759] [ 0.01824856 -0.00693967 0.9998094 -1.35780361] [ 0. 0. 0. 1. ]] SLAMing on 108.18719347 meters Centerline goodness [0,1] 0.8162827390343957 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99958643 -0.02203516 -0.01847753 4.39914421] [ 0.02215652 0.9997341 0.00638929 0.02641509] [ 0.01833183 -0.00679604 0.99980886 -1.35784648] [ 0. 0. 0. 1. ]] SLAMing on 108.21719347 meters Centerline goodness [0,1] 0.8137111287824886 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99958976 -0.02181158 -0.01856274 4.39928213] [ 0.02192579 0.99974177 0.00597112 0.02874007] [ 0.01842771 -0.00637567 0.99980987 -1.35733598] [ 0. 0. 0. 1. ]] SLAMing on 108.24719347 meters Centerline goodness [0,1] 0.8028763744303692 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99959222 -0.0216922 -0.01857012 4.39939006] [ 0.02180479 0.99974494 0.00588211 0.02940696] [ 0.01843778 -0.00628463 0.99981026 -1.35724438] [ 0. 0. 0. 1. ]] SLAMing on 108.27719347 meters Centerline goodness [0,1] 0.8024822695035461 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99958889 -0.02178453 -0.01864097 4.39932087] [ 0.02189364 0.99974423 0.00566891 0.03029203] [ 0.0185127 -0.0060747 0.99981017 -1.35684146] [ 0. 0. 0. 1. ]] SLAMing on 108.30719347 meters Centerline goodness [0,1] 0.8144479495268139 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 0.99958037 -0.02230421 -0.01848238 4.39832493] [ 0.02239873 0.99973699 0.00492319 0.03154559] [ 0.01836771 -0.0053351 0.99981707 -1.35576717] [ 0. 0. 0. 1. ]] SLAMing on 108.33719347 meters Centerline goodness [0,1] 0.8063387701774349 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.35 [[ 9.99563134e-01 -2.35630379e-02 -1.78416416e-02 4.39588620e+00] [ 2.36328283e-02 9.99713818e-01 3.71094630e-03 3.20263302e-02] [ 1.77490945e-02 -4.13097356e-03 9.99833939e-01 -1.35403948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36719347 meters Centerline goodness [0,1] 0.7864508797036788 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.35 [[ 9.99559626e-01 -2.36904933e-02 -1.78693799e-02 4.39633085e+00] [ 2.37631364e-02 9.99710150e-01 3.86387839e-03 3.11224131e-02] [ 1.77726633e-02 -4.28680935e-03 9.99832864e-01 -1.35458382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39719347 meters Centerline goodness [0,1] 0.7966094565034494 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 9.99543811e-01 -2.44405533e-02 -1.77434068e-02 4.39640563e+00] [ 2.45061008e-02 9.99693602e-01 3.48617901e-03 3.16339109e-02] [ 1.76527661e-02 -3.91941037e-03 9.99836496e-01 -1.35518725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42719347 meters Centerline goodness [0,1] 0.7865633400537635 Centerline is valid? [False, False] Translation: X:4.40, Y:0.03, Z:-1.36 [[ 9.99537327e-01 -2.45701331e-02 -1.79287637e-02 4.39713407e+00] [ 2.46315393e-02 9.99691437e-01 3.21223185e-03 3.32491301e-02] [ 1.78443066e-02 -3.65235869e-03 9.99834107e-01 -1.35563490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45719347 meters Centerline goodness [0,1] 0.7788520273828331 Centerline is valid? [False, False] Translation: X:4.40, Y:0.04, Z:-1.36 [[ 9.99531990e-01 -2.47331184e-02 -1.80020673e-02 4.39747156e+00] [ 2.47860590e-02 9.99689068e-01 2.72361545e-03 3.56892798e-02] [ 1.79291064e-02 -3.16854107e-03 9.99834240e-01 -1.35584360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48719347 meters Centerline goodness [0,1] 0.7806126748693747 Centerline is valid? [False, False] Translation: X:4.40, Y:0.04, Z:-1.36 [[ 0.99960155 -0.02172733 -0.01801856 4.3975103 ] [ 0.02182478 0.99974813 0.00522937 0.03950919] [ 0.0179004 -0.00562053 0.99982398 -1.35610536] [ 0. 0. 0. 1. ]] SLAMing on 108.51719347 meters Centerline goodness [0,1] 0.7691337258200168 Centerline is valid? [False, False] Translation: X:4.40, Y:0.04, Z:-1.36 [[ 0.9996004 -0.02160346 -0.01822968 4.39847555] [ 0.02169518 0.99975287 0.00484885 0.04182428] [ 0.01812043 -0.00524241 0.99982207 -1.35670043] [ 0. 0. 0. 1. ]] SLAMing on 108.54719347 meters Centerline goodness [0,1] 0.751666037973092 Centerline is valid? [False, False] Translation: X:4.40, Y:0.04, Z:-1.36 [[ 0.99960304 -0.02114324 -0.01862083 4.40029604] [ 0.02123984 0.99976188 0.00500485 0.04309505] [ 0.01851058 -0.00539836 0.99981409 -1.3580466 ] [ 0. 0. 0. 1. ]] SLAMing on 108.57719347 meters Centerline goodness [0,1] 0.8007328012802966 Centerline is valid? [False, False] Translation: X:4.40, Y:0.05, Z:-1.36 [[ 0.99960705 -0.02052645 -0.01908953 4.40263927] [ 0.02062012 0.99977623 0.00472324 0.04692231] [ 0.01898831 -0.00511501 0.99980662 -1.35980772] [ 0. 0. 0. 1. ]] SLAMing on 108.60719347 meters Centerline goodness [0,1] 0.798459239302027 Centerline is valid? [False, False] Translation: X:4.40, Y:0.05, Z:-1.36 [[ 0.99961603 -0.01960053 -0.01958608 4.40474569] [ 0.01970387 0.99979287 0.00509721 0.05001852] [ 0.01948211 -0.00548117 0.99979518 -1.36124217] [ 0. 0. 0. 1. ]] SLAMing on 108.63719347 meters Centerline goodness [0,1] 0.8074866310160428 Centerline is valid? [False, False] Translation: X:4.40, Y:0.05, Z:-1.36 [[ 0.99967664 -0.01608431 -0.01969546 4.40491957] [ 0.01624917 0.99983403 0.00823909 0.05250577] [ 0.01955967 -0.00855646 0.99977208 -1.3613892 ] [ 0. 0. 0. 1. ]] SLAMing on 108.66719347 meters Centerline goodness [0,1] 0.8308632317807987 Centerline is valid? [False, False] Translation: X:4.41, Y:0.06, Z:-1.36 [[ 0.99973315 -0.01131934 -0.02013695 4.40627509] [ 0.0115473 0.99987015 0.01124059 0.05955025] [ 0.0200071 -0.01147012 0.99973404 -1.36159913] [ 0. 0. 0. 1. ]] SLAMing on 108.69719347 meters Centerline goodness [0,1] 0.8308632317807987 Centerline is valid? [False, False] Translation: X:4.41, Y:0.06, Z:-1.36 [[ 0.99973315 -0.01131934 -0.02013695 4.40627509] [ 0.0115473 0.99987015 0.01124059 0.05955025] [ 0.0200071 -0.01147012 0.99973404 -1.36159913] [ 0. 0. 0. 1. ]] SLAMing on 108.72719347 meters Centerline goodness [0,1] 0.877174609959393 Centerline is valid? [False, False] Translation: X:4.41, Y:0.06, Z:-1.36 [[ 0.99976614 -0.00631187 -0.02068411 4.40770102] [ 0.00660263 0.99987993 0.01401882 0.06434161] [ 0.02059314 -0.01415211 0.99968777 -1.36098535] [ 0. 0. 0. 1. ]] SLAMing on 108.75719347 meters Centerline goodness [0,1] 0.89382953694792 Centerline is valid? [False, False] Translation: X:4.41, Y:0.07, Z:-1.36 [[ 0.9997611 -0.00514425 -0.02124323 4.40969271] [ 0.00544301 0.99988677 0.01402962 0.06693999] [ 0.02116865 -0.0141419 0.99967589 -1.36160793] [ 0. 0. 0. 1. ]] SLAMing on 108.78719347 meters Centerline goodness [0,1] 0.8913656764265869 Centerline is valid? [False, False] Translation: X:4.41, Y:0.07, Z:-1.36 [[ 9.99756409e-01 -3.86271911e-03 -2.17301928e-02 4.41176615e+00] [ 4.17241141e-03 9.99890122e-01 1.42244652e-02 6.94272801e-02] [ 2.16728600e-02 -1.43116676e-02 9.99662675e-01 -1.36247035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81719347 meters Centerline goodness [0,1] 0.9117780514682051 Centerline is valid? [False, False] Translation: X:4.41, Y:0.07, Z:-1.36 [[ 9.99764758e-01 2.49525696e-04 -2.16879369e-02 4.41150895e+00] [ 1.35484850e-04 9.99842465e-01 1.77490079e-02 7.07429938e-02] [ 2.16889492e-02 -1.77477710e-02 9.99607226e-01 -1.36209639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84719347 meters Centerline goodness [0,1] 0.9156806333686647 Centerline is valid? [False, False] Translation: X:4.42, Y:0.08, Z:-1.36 [[ 0.99972897 0.00911905 -0.02142051 4.41553034] [-0.00872122 0.9997891 0.01859287 0.07619617] [ 0.02158554 -0.01840101 0.99959765 -1.35701286] [ 0. 0. 0. 1. ]] SLAMing on 108.87719347 meters Centerline goodness [0,1] 0.9142540668505528 Centerline is valid? [False, False] Translation: X:4.42, Y:0.08, Z:-1.36 [[ 0.99971226 0.0105355 -0.02154983 4.41613037] [-0.01013518 0.9997756 0.01860201 0.07904923] [ 0.02174098 -0.01837825 0.9995947 -1.35642064] [ 0. 0. 0. 1. ]] SLAMing on 108.90719347 meters Centerline goodness [0,1] 0.9129566519785539 Centerline is valid? [False, False] Translation: X:4.42, Y:0.08, Z:-1.36 [[ 0.99969967 0.01144012 -0.02167259 4.41656367] [-0.01103897 0.99976718 0.01853973 0.08050265] [ 0.02187964 -0.01829492 0.99959321 -1.35600768] [ 0. 0. 0. 1. ]] SLAMing on 108.93719347 meters Centerline goodness [0,1] 0.9094473689911398 Centerline is valid? [False, False] Translation: X:4.42, Y:0.08, Z:-1.36 [[ 0.99968574 0.01238839 -0.02179334 4.41738443] [-0.01197516 0.99974794 0.01899071 0.08018135] [ 0.02202311 -0.01872376 0.99958211 -1.35637013] [ 0. 0. 0. 1. ]] SLAMing on 108.96719347 meters Centerline goodness [0,1] 0.9108485499462943 Centerline is valid? [False, False] Translation: X:4.41, Y:0.08, Z:-1.36 [[ 0.99950175 0.0188786 -0.02529516 4.41276051] [-0.0185864 0.99975836 0.01173722 0.07659863] [ 0.02551063 -0.01126122 0.99961112 -1.35654513] [ 0. 0. 0. 1. ]] SLAMing on 108.99719347 meters Centerline goodness [0,1] 0.9095667407280806 Centerline is valid? [False, False] Translation: X:4.42, Y:0.08, Z:-1.36 [[ 0.99952669 0.0165367 -0.02594113 4.41522644] [-0.01630546 0.99982564 0.00910023 0.07598438] [ 0.02608709 -0.00867294 0.99962205 -1.35778422] [ 0. 0. 0. 1. ]] SLAMing on 109.02719347 meters Centerline goodness [0,1] 0.9093825010089853 Centerline is valid? [False, False] Translation: X:4.42, Y:0.07, Z:-1.36 [[ 0.99955999 0.01343936 -0.02644251 4.41669528] [-0.01328108 0.99989287 0.0061524 0.07422799] [ 0.02652236 -0.00579851 0.9996314 -1.35836894] [ 0. 0. 0. 1. ]] SLAMing on 109.05719347 meters Centerline goodness [0,1] 0.9084354570870031 Centerline is valid? [False, False] Translation: X:4.42, Y:0.07, Z:-1.36 [[ 9.99575112e-01 1.08010476e-02 -2.70727325e-02 4.41909833e+00] [-1.06919015e-02 9.99934132e-01 4.17311248e-03 7.02213864e-02] [ 2.71160232e-02 -3.88188039e-03 9.99624756e-01 -1.35992110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08719347 meters Centerline goodness [0,1] 0.9082104473881529 Centerline is valid? [False, False] Translation: X:4.43, Y:0.06, Z:-1.36 [[ 9.99743704e-01 4.58107328e-03 -2.21706944e-02 4.43325480e+00] [-4.38945065e-03 9.99952659e-01 8.68401992e-03 5.81520303e-02] [ 2.22094270e-02 -8.58447707e-03 9.99716484e-01 -1.36491911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11719347 meters Centerline goodness [0,1] 0.9080911728836368 Centerline is valid? [False, False] Translation: X:4.43, Y:0.05, Z:-1.37 [[ 9.99747477e-01 1.35504947e-03 -2.24309059e-02 4.43391918e+00] [-1.21697333e-03 9.99980236e-01 6.16812701e-03 5.41666451e-02] [ 2.24388207e-02 -6.13927160e-03 9.99729368e-01 -1.36507119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14719347 meters Centerline goodness [0,1] 0.9079576322937943 Centerline is valid? [False, False] Translation: X:4.43, Y:0.05, Z:-1.36 [[ 9.99750638e-01 -3.23540627e-04 -2.23284105e-02 4.43349351e+00] [ 4.46455820e-04 9.99984775e-01 5.50011340e-03 4.55360948e-02] [ 2.23262911e-02 -5.50871053e-03 9.99735560e-01 -1.36433372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17719347 meters Centerline goodness [0,1] 0.9049481631022228 Centerline is valid? [False, False] Translation: X:4.44, Y:0.04, Z:-1.37 [[ 9.99731887e-01 -2.07141382e-03 -2.30621809e-02 4.43608204e+00] [ 2.16011259e-03 9.99990364e-01 3.82182280e-03 4.15766397e-02] [ 2.30540421e-02 -3.87061503e-03 9.99726727e-01 -1.36541687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20719347 meters Centerline goodness [0,1] 0.9050650253988998 Centerline is valid? [False, False] Translation: X:4.44, Y:0.04, Z:-1.37 [[ 9.99739729e-01 -2.95856468e-03 -2.26212420e-02 4.43577299e+00] [ 3.03206147e-03 9.99990234e-01 3.21540790e-03 3.60744565e-02] [ 2.26115081e-02 -3.28316002e-03 9.99738936e-01 -1.36550697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23719347 meters Centerline goodness [0,1] 0.9066423907584129 Centerline is valid? [False, False] Translation: X:4.45, Y:0.03, Z:-1.37 [[ 0.99982422 -0.00710876 -0.01734946 4.44927726] [ 0.00725959 0.99993627 0.00864601 0.02985338] [ 0.01728689 -0.00877044 0.9998121 -1.36989289] [ 0. 0. 0. 1. ]] SLAMing on 109.26719347 meters Centerline goodness [0,1] 0.9078378718583476 Centerline is valid? [False, False] Translation: X:4.45, Y:0.02, Z:-1.37 [[ 0.99979368 -0.01019367 -0.01756932 4.44993745] [ 0.01031217 0.9999246 0.0066674 0.02348156] [ 0.01750003 -0.0068472 0.99982342 -1.3700495 ] [ 0. 0. 0. 1. ]] SLAMing on 109.29719347 meters Centerline goodness [0,1] 0.9121651204002919 Centerline is valid? [False, False] Translation: X:4.46, Y:0.01, Z:-1.37 [[ 0.99973194 -0.0193784 -0.01267003 4.46301726] [ 0.01950589 0.99975955 0.010018 0.00641074] [ 0.01247285 -0.01026245 0.99986955 -1.37467444] [ 0. 0. 0. 1. ]] SLAMing on 109.32719347 meters Centerline goodness [0,1] 0.912230971128609 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.00, Z:-1.37 [[ 9.99652304e-01 -2.32394481e-02 -1.24579352e-02 4.46176392e+00] [ 2.33367635e-02 9.99697823e-01 7.72389540e-03 -6.99838148e-04] [ 1.22746716e-02 -8.01193772e-03 9.99892565e-01 -1.37332862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35719347 meters Centerline goodness [0,1] 0.9126056766451992 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.01, Z:-1.37 [[ 0.99957734 -0.02616834 -0.0126631 4.46223794] [ 0.02624977 0.99963552 0.00630737 -0.00744278] [ 0.01249343 -0.00663711 0.99989993 -1.37308008] [ 0. 0. 0. 1. ]] SLAMing on 109.38719347 meters Centerline goodness [0,1] 0.915295897145018 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.01, Z:-1.37 [[ 0.99950151 -0.02886717 -0.01278388 4.46243966] [ 0.02893045 0.99956993 0.00479339 -0.0138595 ] [ 0.01264001 -0.00516085 0.99990679 -1.37267764] [ 0. 0. 0. 1. ]] SLAMing on 109.41719347 meters Centerline goodness [0,1] 0.9119150362394738 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.03, Z:-1.37 [[ 0.99943941 -0.03074928 -0.01324176 4.46372386] [ 0.03081244 0.99951463 0.00459248 -0.02841031] [ 0.01309412 -0.00499792 0.99990178 -1.37226249] [ 0. 0. 0. 1. ]] SLAMing on 109.44719347 meters Centerline goodness [0,1] 0.9109097772744432 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.04, Z:-1.37 [[ 0.99946105 -0.0300808 -0.01314337 4.46451393] [ 0.03016531 0.9995252 0.00627907 -0.03597749] [ 0.01294825 -0.00667216 0.99989391 -1.37319765] [ 0. 0. 0. 1. ]] SLAMing on 109.47719347 meters Centerline goodness [0,1] 0.9076884327183427 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.05, Z:-1.38 [[ 0.99943676 -0.03052097 -0.0139508 4.46782276] [ 0.03062704 0.99950309 0.00745333 -0.04775393] [ 0.01371639 -0.0078764 0.9998749 -1.3750879 ] [ 0. 0. 0. 1. ]] SLAMing on 109.50719347 meters Centerline goodness [0,1] 0.9087324061837938 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.05, Z:-1.38 [[ 0.99945799 -0.02957663 -0.01445511 4.46971408] [ 0.02971518 0.99951358 0.00946583 -0.05436831] [ 0.01416811 -0.00989024 0.99985071 -1.37614484] [ 0. 0. 0. 1. ]] SLAMing on 109.53719347 meters Centerline goodness [0,1] 0.9087324061837938 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.05, Z:-1.38 [[ 0.99945799 -0.02957663 -0.01445511 4.46971408] [ 0.02971518 0.99951358 0.00946583 -0.05436831] [ 0.01416811 -0.00989024 0.99985071 -1.37614484] [ 0. 0. 0. 1. ]] SLAMing on 109.56719347 meters Centerline goodness [0,1] 0.9072803065392228 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-1.38 [[ 0.99937816 -0.03198663 -0.01483762 4.47143167] [ 0.03210446 0.9994543 0.00777215 -0.05957381] [ 0.01458092 -0.00824367 0.99985971 -1.37695686] [ 0. 0. 0. 1. ]] SLAMing on 109.59719347 meters Centerline goodness [0,1] 0.9071078482929805 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.07, Z:-1.38 [[ 0.99931921 -0.03364561 -0.01513589 4.47234103] [ 0.03376757 0.99939869 0.00787492 -0.07261083] [ 0.01486184 -0.00838066 0.99985443 -1.37664881] [ 0. 0. 0. 1. ]] SLAMing on 109.62719347 meters Centerline goodness [0,1] 0.907189844685904 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.08, Z:-1.38 [[ 0.99932614 -0.03344283 -0.01512786 4.47221712] [ 0.03358377 0.99939393 0.00916007 -0.07901135] [ 0.01481236 -0.00966195 0.99984361 -1.37622874] [ 0. 0. 0. 1. ]] SLAMing on 109.65719347 meters Centerline goodness [0,1] 0.9056290346321256 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.08, Z:-1.38 [[ 0.99934019 -0.03288757 -0.01541391 4.47304613] [ 0.03305651 0.99939473 0.01083656 -0.08473684] [ 0.01504819 -0.01133894 0.99982247 -1.37652059] [ 0. 0. 0. 1. ]] SLAMing on 109.68719347 meters Centerline goodness [0,1] 0.9074883388662436 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.10, Z:-1.38 [[ 0.99930045 -0.03376299 -0.01608331 4.47556609] [ 0.03394931 0.9993579 0.01145607 -0.09521629] [ 0.01568619 -0.01199408 0.99980502 -1.37760813] [ 0. 0. 0. 1. ]] SLAMing on 109.71719347 meters Centerline goodness [0,1] 0.9060691528256555 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.10, Z:-1.38 [[ 0.9992039 -0.03642942 -0.01626215 4.47658512] [ 0.03658436 0.99928697 0.00933417 -0.0992097 ] [ 0.01591052 -0.00992168 0.99982419 -1.377862 ] [ 0. 0. 0. 1. ]] SLAMing on 109.74719347 meters Centerline goodness [0,1] 0.9081074307673029 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.10, Z:-1.38 [[ 0.99914697 -0.03812718 -0.01586343 4.47485701] [ 0.0382628 0.99923295 0.00833529 -0.10424194] [ 0.01553346 -0.00893516 0.99983942 -1.37615087] [ 0. 0. 0. 1. ]] SLAMing on 109.77719347 meters Centerline goodness [0,1] 0.9099796077112283 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.11, Z:-1.37 [[ 9.98883742e-01 -4.47695100e-02 -1.50652093e-02 4.47125278e+00] [ 4.48247864e-02 9.98989242e-01 3.35153338e-03 -1.12239628e-01] [ 1.48999355e-02 -4.02308699e-03 9.99880896e-01 -1.37223717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80719347 meters Centerline goodness [0,1] 0.9081461966294484 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.12, Z:-1.37 [[ 9.98715574e-01 -4.83158283e-02 -1.52572193e-02 4.47199669e+00] [ 4.83299734e-02 9.98831267e-01 5.59547111e-04 -1.15904455e-01] [ 1.52123527e-02 -1.29620942e-03 9.99883445e-01 -1.37211587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83719347 meters Centerline goodness [0,1] 0.9030665606827595 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.12, Z:-1.37 [[ 9.98713879e-01 -4.82536899e-02 -1.55617941e-02 4.47282629e+00] [ 4.82873831e-02 9.98831868e-01 1.79647866e-03 -1.20819320e-01] [ 1.54569291e-02 -2.54560649e-03 9.99877294e-01 -1.37240491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86719347 meters Centerline goodness [0,1] 0.9063491400901653 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.12, Z:-1.37 [[ 9.98726535e-01 -4.78435472e-02 -1.60094837e-02 4.47414911e+00] [ 4.78969381e-02 9.98847873e-01 2.96809733e-03 -1.24348877e-01] [ 1.58490345e-02 -3.73112281e-03 9.99867435e-01 -1.37297303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89719347 meters Centerline goodness [0,1] 0.9045157780195865 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.13, Z:-1.37 [[ 9.98760383e-01 -4.70294036e-02 -1.63074105e-02 4.47502712e+00] [ 4.71046005e-02 9.98880887e-01 4.25797024e-03 -1.27749112e-01] [ 1.60889109e-02 -5.02084604e-03 9.99857959e-01 -1.37325390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92719347 meters Centerline goodness [0,1] 0.9038083281021134 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.13, Z:-1.37 [[ 0.99878774 -0.04634539 -0.01658772 4.47606942] [ 0.04643529 0.9989084 0.00507614 -0.12910368] [ 0.01633436 -0.00584025 0.99984953 -1.37383899] [ 0. 0. 0. 1. ]] SLAMing on 109.95719347 meters Centerline goodness [0,1] 0.9036250919407376 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.13, Z:-1.37 [[ 0.99881385 -0.04569575 -0.01681657 4.47706126] [ 0.04580058 0.99893317 0.00590239 -0.13074826] [ 0.01652892 -0.00666559 0.99984117 -1.37451159] [ 0. 0. 0. 1. ]] SLAMing on 109.98719347 meters Centerline goodness [0,1] 0.9018928173777861 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.14, Z:-1.38 [[ 0.99885482 -0.0444514 -0.01769508 4.48065539] [ 0.04459931 0.99897249 0.00805416 -0.13532796] [ 0.01731888 -0.00883413 0.99981099 -1.37705262] [ 0. 0. 0. 1. ]] SLAMing on 110.01719347 meters Centerline goodness [0,1] 0.8995670633509715 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.14, Z:-1.38 [[ 0.99885795 -0.04419894 -0.01814536 4.48211649] [ 0.04436899 0.99897396 0.00907807 -0.13810358] [ 0.0177255 -0.00987279 0.99979415 -1.37775973] [ 0. 0. 0. 1. ]] SLAMing on 110.04719347 meters Centerline goodness [0,1] 0.8956233172625383 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.14, Z:-1.38 [[ 0.9988443 -0.0443615 -0.01849666 4.4831991 ] [ 0.04454849 0.99895893 0.00982295 -0.14128424] [ 0.01804164 -0.0106356 0.99978067 -1.37820361] [ 0. 0. 0. 1. ]] SLAMing on 110.07719347 meters Centerline goodness [0,1] 0.8758803930665092 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.15, Z:-1.38 [[ 0.99866239 -0.04824114 -0.01860729 4.48396079] [ 0.04838018 0.99880379 0.00709574 -0.14626587] [ 0.01824273 -0.00798648 0.99980169 -1.37829713] [ 0. 0. 0. 1. ]] SLAMing on 110.10719347 meters Centerline goodness [0,1] 0.8824493225501523 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99866886 -0.04797649 -0.01894131 4.48523317] [ 0.04813529 0.99880864 0.00801835 -0.14921683] [ 0.01853405 -0.00891942 0.99978844 -1.37905044] [ 0. 0. 0. 1. ]] SLAMing on 110.13719347 meters Centerline goodness [0,1] 0.8741267543583611 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99868425 -0.04751207 -0.01929679 4.48627353] [ 0.04768591 0.99882492 0.00865049 -0.15043156] [ 0.01886311 -0.00955929 0.99977638 -1.37946018] [ 0. 0. 0. 1. ]] SLAMing on 110.16719347 meters Centerline goodness [0,1] 0.8842903803603414 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99870229 -0.0470754 -0.01943287 4.4865557 ] [ 0.04725618 0.9988427 0.00895043 -0.15039861] [ 0.01898903 -0.00985713 0.9997711 -1.37940323] [ 0. 0. 0. 1. ]] SLAMing on 110.19719347 meters Centerline goodness [0,1] 0.8940055410964655 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99877786 -0.04520137 -0.01999061 4.48845927] [ 0.04541149 0.99891644 0.01018497 -0.15095633] [ 0.01950857 -0.01108032 0.99974829 -1.38022336] [ 0. 0. 0. 1. ]] SLAMing on 110.22719347 meters Centerline goodness [0,1] 0.8975136957437843 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99881512 -0.04433673 -0.02006535 4.48898294] [ 0.04455515 0.99895098 0.01057254 -0.15061496] [ 0.01957555 -0.01145403 0.99974277 -1.3806002 ] [ 0. 0. 0. 1. ]] SLAMing on 110.25719347 meters Centerline goodness [0,1] 0.8968112164463036 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99886051 -0.04300339 -0.0206977 4.49098183] [ 0.04324388 0.99900047 0.01131473 -0.14996027] [ 0.02019044 -0.01219689 0.99972175 -1.38155417] [ 0. 0. 0. 1. ]] SLAMing on 110.28719347 meters Centerline goodness [0,1] 0.896919779804177 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99889053 -0.04219022 -0.02092109 4.49179185] [ 0.04243803 0.99903238 0.01154588 -0.1488458 ] [ 0.02041373 -0.01242092 0.99971446 -1.38196474] [ 0. 0. 0. 1. ]] SLAMing on 110.31719347 meters Centerline goodness [0,1] 0.8962871078967286 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99893662 -0.04094357 -0.02119578 4.49227799] [ 0.04120075 0.99908071 0.01184231 -0.14734345] [ 0.02069143 -0.012703 0.99970521 -1.38161452] [ 0. 0. 0. 1. ]] SLAMing on 110.34719347 meters Centerline goodness [0,1] 0.8969203999916144 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99893932 -0.04073797 -0.02146288 4.49298262] [ 0.04100311 0.99908621 0.01206163 -0.14776353] [ 0.0209519 -0.01292888 0.99969688 -1.38174563] [ 0. 0. 0. 1. ]] SLAMing on 110.37719347 meters Centerline goodness [0,1] 0.8978162080282757 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99892542 -0.04108068 -0.02145638 4.49285216] [ 0.04134658 0.9990716 0.01209925 -0.14923319] [ 0.02093942 -0.0129734 0.99969657 -1.38147828] [ 0. 0. 0. 1. ]] SLAMing on 110.40719347 meters Centerline goodness [0,1] 0.8960070574891302 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99877114 -0.04466377 -0.02147919 4.49343499] [ 0.04485716 0.99895633 0.00860728 -0.14994923] [ 0.02107234 -0.0095602 0.99973224 -1.38157659] [ 0. 0. 0. 1. ]] SLAMing on 110.43719347 meters Centerline goodness [0,1] 0.8999179827974175 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.15, Z:-1.38 [[ 0.99858796 -0.04870635 -0.02120811 4.49318798] [ 0.0488321 0.99879212 0.00545236 -0.15275082] [ 0.02091692 -0.0064803 0.99976022 -1.38119456] [ 0. 0. 0. 1. ]] SLAMing on 110.46719347 meters Centerline goodness [0,1] 0.8984952120383037 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.16, Z:-1.38 [[ 0.99858436 -0.04873679 -0.02130744 4.49371622] [ 0.04887672 0.99878621 0.00609645 -0.15508173] [ 0.02098446 -0.00712926 0.99975438 -1.38155407] [ 0. 0. 0. 1. ]] SLAMing on 110.49719347 meters Centerline goodness [0,1] 0.8966751061915423 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.16, Z:-1.38 [[ 9.98451224e-01 -5.11785849e-02 -2.18152728e-02 4.49668015e+00] [ 5.12737356e-02 9.98677314e-01 3.82449122e-03 -1.56631972e-01] [ 2.15906860e-02 -4.93711846e-03 9.99754703e-01 -1.38357895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52719347 meters Centerline goodness [0,1] 0.8944213538294451 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.16, Z:-1.39 [[ 9.98328416e-01 -5.33627605e-02 -2.21988729e-02 4.49973952e+00] [ 5.34243196e-02 9.98569502e-01 2.18890250e-03 -1.61565349e-01] [ 2.20503116e-02 -3.37120325e-03 9.99751178e-01 -1.38585003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55719347 meters Centerline goodness [0,1] 0.896634514131671 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.16, Z:-1.39 [[ 9.98344529e-01 -5.30204477e-02 -2.22942542e-02 4.50005406e+00] [ 5.30946685e-02 9.98585696e-01 2.75008641e-03 -1.63014403e-01] [ 2.21169125e-02 -3.92923975e-03 9.99747670e-01 -1.38598733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58719347 meters Centerline goodness [0,1] 0.8941238305476716 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.16, Z:-1.39 [[ 9.98364528e-01 -5.25766730e-02 -2.24490991e-02 4.50045802e+00] [ 5.26581772e-02 9.98607924e-01 3.05464227e-03 -1.62665742e-01] [ 2.22572453e-02 -4.23177513e-03 9.99743321e-01 -1.38606734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61719347 meters Centerline goodness [0,1] 0.8968386719076692 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.16, Z:-1.39 [[ 0.99844809 -0.05063126 -0.02319225 4.50293564] [ 0.05075549 0.99869958 0.00479896 -0.16174337] [ 0.02291912 -0.00596864 0.99971951 -1.38745578] [ 0. 0. 0. 1. ]] SLAMing on 110.64719347 meters Centerline goodness [0,1] 0.8976511472115224 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.16, Z:-1.39 [[ 0.99864921 -0.04621344 -0.02375029 4.50413043] [ 0.04644635 0.99887702 0.00935026 -0.16308431] [ 0.02329151 -0.01044074 0.9996742 -1.38803734] [ 0. 0. 0. 1. ]] SLAMing on 110.67719347 meters Centerline goodness [0,1] 0.8953276508408553 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.17, Z:-1.39 [[ 0.99866029 -0.04583338 -0.02401918 4.50534335] [ 0.04608312 0.99888807 0.00994879 -0.16510872] [ 0.02353649 -0.01104234 0.99966199 -1.38888526] [ 0. 0. 0. 1. ]] SLAMing on 110.70719347 meters Centerline goodness [0,1] 0.8950337421390218 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.17, Z:-1.39 [[ 0.99854591 -0.04799028 -0.02455584 4.50796892] [ 0.04819161 0.99880863 0.00767358 -0.16697556] [ 0.02415833 -0.00884581 0.99966901 -1.39038232] [ 0. 0. 0. 1. ]] SLAMing on 110.73719347 meters Centerline goodness [0,1] 0.8967524445654222 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.17, Z:-1.39 [[ 0.99837872 -0.05138745 -0.02447988 4.50822548] [ 0.05152818 0.99865825 0.00515271 -0.17145136] [ 0.02418225 -0.00640576 0.99968704 -1.39021306] [ 0. 0. 0. 1. ]] SLAMing on 110.76719347 meters Centerline goodness [0,1] 0.8953344386844923 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.17, Z:-1.39 [[ 0.9983691 -0.05155377 -0.02452242 4.508299 ] [ 0.05170659 0.9986464 0.00563909 -0.17273772] [ 0.02419851 -0.00689787 0.99968338 -1.39013333] [ 0. 0. 0. 1. ]] SLAMing on 110.79719347 meters Centerline goodness [0,1] 0.8921792269217086 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.17, Z:-1.39 [[ 0.99835237 -0.05173994 -0.02480992 4.50885634] [ 0.05190474 0.99863375 0.00604482 -0.17343143] [ 0.02446326 -0.00732261 0.99967391 -1.39004824] [ 0. 0. 0. 1. ]] SLAMing on 110.82719347 meters Centerline goodness [0,1] 0.8858951062096623 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.18, Z:-1.39 [[ 0.99833019 -0.05207166 -0.02500751 4.50911225] [ 0.05225012 0.99861264 0.00653621 -0.17507019] [ 0.02463246 -0.00783194 0.9996659 -1.38977783] [ 0. 0. 0. 1. ]] SLAMing on 110.85719347 meters Centerline goodness [0,1] 0.8766882341855644 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.18, Z:-1.39 [[ 0.99824325 -0.05386797 -0.02467089 4.50685417] [ 0.05401795 0.99852507 0.00545336 -0.17684093] [ 0.02434074 -0.00677645 0.99968075 -1.38756273] [ 0. 0. 0. 1. ]] SLAMing on 110.88719347 meters Centerline goodness [0,1] 0.8685834207764953 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.18, Z:-1.38 [[ 9.97881071e-01 -6.06657316e-02 -2.35167263e-02 4.50292016e+00] [ 6.06699447e-02 9.98157739e-01 -5.34937538e-04 -1.79434128e-01] [ 2.35058548e-02 -8.92954444e-04 9.99723300e-01 -1.38389299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91719347 meters Centerline goodness [0,1] 0.8602021478205938 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.18, Z:-1.38 [[ 9.97832301e-01 -6.15742758e-02 -2.32229838e-02 4.50221872e+00] [ 6.15745232e-02 9.98102240e-01 -7.05094389e-04 -1.81143324e-01] [ 2.32223278e-02 -7.26378197e-04 9.99730061e-01 -1.38351351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94719347 meters Centerline goodness [0,1] 0.822753209700428 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.18, Z:-1.38 [[ 9.97780468e-01 -6.23590936e-02 -2.33555248e-02 4.50305895e+00] [ 6.23559062e-02 9.98053602e-01 -8.65436176e-04 -1.81952309e-01] [ 2.33640334e-02 -5.92839599e-04 9.99726848e-01 -1.38426469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97719347 meters Centerline goodness [0,1] 0.83621795545835 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.18, Z:-1.38 [[ 9.97746354e-01 -6.29045958e-02 -2.33500660e-02 4.50360953e+00] [ 6.28924708e-02 9.98019521e-01 -1.25400859e-03 -1.81207353e-01] [ 2.33827046e-02 -2.17360853e-04 9.99726564e-01 -1.38497919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00719347 meters Centerline goodness [0,1] 0.8083122000293421 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.18, Z:-1.39 [[ 9.97644454e-01 -6.44508039e-02 -2.34869650e-02 4.50469379e+00] [ 6.43895709e-02 9.97919199e-01 -3.35489319e-03 -1.75741673e-01] [ 2.36543189e-02 1.83467499e-03 9.99718514e-01 -1.38597608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03719347 meters Centerline goodness [0,1] 0.7964104499517759 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.17, Z:-1.39 [[ 9.97820600e-01 -6.15897089e-02 -2.36803456e-02 4.50499497e+00] [ 6.15991405e-02 9.98100915e-01 -3.31648210e-04 -1.74362148e-01] [ 2.36558007e-02 -1.12776352e-03 9.99719526e-01 -1.38649114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06719347 meters Centerline goodness [0,1] 0.7896564058324742 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.17, Z:-1.39 [[ 9.97969583e-01 -5.90441941e-02 -2.38850276e-02 4.50533233e+00] [ 5.91139066e-02 9.98248770e-01 2.22258902e-03 -1.72461204e-01] [ 2.37119685e-02 -3.63001353e-03 9.99712241e-01 -1.38700578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09719347 meters Centerline goodness [0,1] 0.7776752186955883 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.17, Z:-1.39 [[ 9.97977337e-01 -5.87790769e-02 -2.42127210e-02 4.50729416e+00] [ 5.88461918e-02 9.98264919e-01 2.06813966e-03 -1.68937495e-01] [ 2.40491467e-02 -3.48878294e-03 9.99704690e-01 -1.38879439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12719347 meters Centerline goodness [0,1] 0.7720442242982841 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.16, Z:-1.39 [[ 9.97984793e-01 -5.84899500e-02 -2.46024078e-02 4.50937052e+00] [ 5.85554466e-02 9.98282254e-01 1.94965293e-03 -1.64973441e-01] [ 2.44461120e-02 -3.38632895e-03 9.99695414e-01 -1.39059259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15719347 meters Centerline goodness [0,1] 0.7539223264461947 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.16, Z:-1.39 [[ 9.98011432e-01 -5.78955632e-02 -2.49255920e-02 4.51014616e+00] [ 5.79628217e-02 9.98316771e-01 1.98378266e-03 -1.56588475e-01] [ 2.47687843e-02 -3.42459542e-03 9.99687341e-01 -1.39138575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18719347 meters Centerline goodness [0,1] 0.7581365131923633 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.15, Z:-1.39 [[ 9.98133053e-01 -5.57750835e-02 -2.48907519e-02 4.50976931e+00] [ 5.58929167e-02 9.98428502e-01 4.06313446e-03 -1.53582650e-01] [ 2.46250145e-02 -5.44676552e-03 9.99681920e-01 -1.39152988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21719347 meters Centerline goodness [0,1] 0.7457880549237639 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.15, Z:-1.39 [[ 9.98146727e-01 -5.52714105e-02 -2.54594104e-02 4.51212814e+00] [ 5.53862008e-02 9.98457678e-01 3.82534164e-03 -1.46076240e-01] [ 2.52087118e-02 -5.22835226e-03 9.99668538e-01 -1.39368529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24719347 meters Centerline goodness [0,1] 0.74694450850087 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.14, Z:-1.40 [[ 9.98151432e-01 -5.49800596e-02 -2.59019504e-02 4.51440924e+00] [ 5.50941914e-02 9.98474258e-01 3.71292115e-03 -1.43507799e-01] [ 2.56582941e-02 -5.13310458e-03 9.99657593e-01 -1.39554825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27719347 meters Centerline goodness [0,1] 0.7312425064681012 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.14, Z:-1.40 [[ 9.98122032e-01 -5.55191037e-02 -2.58850965e-02 4.51438114e+00] [ 5.56074716e-02 9.98449040e-01 2.70606769e-03 -1.40524816e-01] [ 2.56947113e-02 -4.14039055e-03 9.99661262e-01 -1.39556246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30719347 meters Centerline goodness [0,1] 0.7471543354536324 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.14, Z:-1.40 [[ 9.98375784e-01 -5.36424640e-02 -1.91906362e-02 4.52249351e+00] [ 5.35952522e-02 9.98558335e-01 -2.96642773e-03 -1.36747537e-01] [ 1.93220963e-02 1.93308262e-03 9.99811442e-01 -1.39743530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33719347 meters Centerline goodness [0,1] 0.717922350472193 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.13, Z:-1.40 [[ 9.98515576e-01 -5.08889415e-02 -1.94154539e-02 4.52185929e+00] [ 5.08811908e-02 9.98704314e-01 -8.93300800e-04 -1.29601783e-01] [ 1.94357567e-02 -9.59066526e-05 9.99811103e-01 -1.39670267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36719347 meters Centerline goodness [0,1] 0.7440016734651187 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.13, Z:-1.40 [[ 9.98686803e-01 -4.71873618e-02 -1.99505201e-02 4.52308309e+00] [ 4.72451163e-02 9.98880362e-01 2.43327337e-03 -1.26802950e-01] [ 1.98133630e-02 -3.37264265e-03 9.99798008e-01 -1.39748732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39719347 meters Centerline goodness [0,1] 0.7482222036308877 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.12, Z:-1.40 [[ 0.99881364 -0.04426886 -0.02028731 4.52475431] [ 0.04437535 0.99900326 0.00482897 -0.12374605] [ 0.02005331 -0.0057235 0.99978253 -1.39907377] [ 0. 0. 0. 1. ]] SLAMing on 111.42719347 meters Centerline goodness [0,1] 0.7322217800213653 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.12, Z:-1.40 [[ 0.99889454 -0.04214746 -0.02081557 4.52733923] [ 0.0422863 0.99908583 0.00627536 -0.12067801] [ 0.02053205 -0.00714864 0.99976364 -1.40120295] [ 0. 0. 0. 1. ]] SLAMing on 111.45719347 meters Centerline goodness [0,1] 0.7322217800213653 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.12, Z:-1.40 [[ 0.99889454 -0.04214746 -0.02081557 4.52733923] [ 0.0422863 0.99908583 0.00627536 -0.12067801] [ 0.02053205 -0.00714864 0.99976364 -1.40120295] [ 0. 0. 0. 1. ]] SLAMing on 111.48719347 meters Centerline goodness [0,1] 0.7873014531936465 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.11, Z:-1.41 [[ 9.99233193e-01 -3.47343507e-02 -1.80707343e-02 4.52141486e+00] [ 3.47636751e-02 9.99394701e-01 1.31107446e-03 -1.13596718e-01] [ 1.80142568e-02 -1.93827425e-03 9.99835851e-01 -1.40530793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51719347 meters Centerline goodness [0,1] 0.79654336600274 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.11, Z:-1.41 [[ 9.99344749e-01 -3.11324485e-02 -1.84619165e-02 4.52192209e+00] [ 3.12118769e-02 9.99504667e-01 4.02979381e-03 -1.09744431e-01] [ 1.83273144e-02 -4.60338435e-03 9.99821443e-01 -1.40518349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54719347 meters Centerline goodness [0,1] 0.8052734498202233 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.11, Z:-1.40 [[ 0.99944155 -0.02762258 -0.01880386 4.52194472] [ 0.02775055 0.99959323 0.00657904 -0.10535655] [ 0.01861448 -0.00709718 0.99980155 -1.40447254] [ 0. 0. 0. 1. ]] SLAMing on 111.57719347 meters Centerline goodness [0,1] 0.841085840058694 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.10, Z:-1.40 [[ 0.99960794 -0.0211634 -0.0183325 4.51842295] [ 0.02131403 0.99974034 0.00806027 -0.09526946] [ 0.01815716 -0.00844785 0.99979946 -1.39728658] [ 0. 0. 0. 1. ]] SLAMing on 111.60719347 meters Centerline goodness [0,1] 0.8602569502948609 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.09, Z:-1.40 [[ 0.99967086 -0.01805046 -0.01823073 4.51671139] [ 0.01823943 0.99978108 0.01025288 -0.09161586] [ 0.01804167 -0.01058202 0.99978124 -1.39534891] [ 0. 0. 0. 1. ]] SLAMing on 111.63719347 meters Centerline goodness [0,1] 0.8639633197324696 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.09, Z:-1.39 [[ 0.99967274 -0.01774092 -0.01843013 4.51684398] [ 0.01791012 0.99979858 0.00905638 -0.08690333] [ 0.01826575 -0.0093835 0.99978913 -1.39451974] [ 0. 0. 0. 1. ]] SLAMing on 111.66719347 meters Centerline goodness [0,1] 0.8738610119672475 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.39 [[ 0.99967392 -0.01727788 -0.01880229 4.51769127] [ 0.01743605 0.99981369 0.00828113 -0.08294486] [ 0.01865571 -0.00860626 0.99978893 -1.39444061] [ 0. 0. 0. 1. ]] SLAMing on 111.69719347 meters Centerline goodness [0,1] 0.8770798319327731 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.39 [[ 0.999678 -0.01689036 -0.01893718 4.51807657] [ 0.01703468 0.99982688 0.00748543 -0.07946878] [ 0.01880747 -0.00780561 0.99979265 -1.39429434] [ 0. 0. 0. 1. ]] SLAMing on 111.72719347 meters Centerline goodness [0,1] 0.8800874997370801 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.40 [[ 0.99974277 -0.01200957 -0.01923966 4.51947672] [ 0.0122226 0.99986487 0.01099352 -0.07645334] [ 0.01910503 -0.01122585 0.99975446 -1.39525221] [ 0. 0. 0. 1. ]] SLAMing on 111.75719347 meters Centerline goodness [0,1] 0.8799512748351326 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.07, Z:-1.40 [[ 0.99974496 -0.01049006 -0.01999926 4.5222135 ] [ 0.01072538 0.99987408 0.01169575 -0.07407345] [ 0.01987405 -0.01190727 0.99973158 -1.3967159 ] [ 0. 0. 0. 1. ]] SLAMing on 111.78719347 meters Centerline goodness [0,1] 0.8798587315268347 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.07, Z:-1.40 [[ 0.99975021 -0.00893248 -0.02048738 4.52458707] [ 0.00919033 0.99987931 0.01252629 -0.07188319] [ 0.02037301 -0.01271144 0.99971164 -1.39837471] [ 0. 0. 0. 1. ]] SLAMing on 111.81719347 meters Centerline goodness [0,1] 0.8784711290221019 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:-1.40 [[ 9.99769994e-01 -3.65472838e-03 -2.11329425e-02 4.52747373e+00] [ 4.02569746e-03 9.99838089e-01 1.75382526e-02 -7.13140117e-02] [ 2.10654233e-02 -1.76192936e-02 9.99622833e-01 -1.40052814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84719347 meters Centerline goodness [0,1] 0.8780656376316837 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:-1.40 [[ 9.99765353e-01 -3.40897010e-03 -2.13920005e-02 4.52833186e+00] [ 3.78951047e-03 9.99834855e-01 1.77736603e-02 -7.14626965e-02] [ 2.13278778e-02 -1.78505550e-02 9.99613165e-01 -1.40094964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87719347 meters Centerline goodness [0,1] 0.8765654073717881 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:-1.40 [[ 0.99974077 -0.00628617 -0.02188308 4.52986123] [ 0.00660717 0.99987118 0.01462772 -0.07196066] [ 0.02178831 -0.01476852 0.99965352 -1.40138053] [ 0. 0. 0. 1. ]] SLAMing on 111.90719347 meters Centerline goodness [0,1] 0.875425545328458 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.40 [[ 0.9997122 -0.01008413 -0.02176739 4.52965075] [ 0.01034015 0.99987831 0.01168135 -0.07665409] [ 0.02164695 -0.01190306 0.99969482 -1.40113288] [ 0. 0. 0. 1. ]] SLAMing on 111.93719347 meters Centerline goodness [0,1] 0.8771745745283612 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.40 [[ 0.99966981 -0.01324373 -0.02202006 4.53121349] [ 0.01344089 0.99987068 0.00882982 -0.07850453] [ 0.02190027 -0.00912287 0.99971854 -1.40218281] [ 0. 0. 0. 1. ]] SLAMing on 111.96719347 meters Centerline goodness [0,1] 0.8784756468637861 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.40 [[ 0.99961811 -0.01638688 -0.0222511 4.53286257] [ 0.01652949 0.99984391 0.0062402 -0.08107634] [ 0.02214537 -0.00660562 0.99973294 -1.40345566] [ 0. 0. 0. 1. ]] SLAMing on 111.99719347 meters Centerline goodness [0,1] 0.8787351380821573 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.40 [[ 9.99551101e-01 -1.95850146e-02 -2.26721077e-02 4.53474004e+00] [ 1.96758242e-02 9.99799232e-01 3.78920334e-03 -8.44648911e-02] [ 2.25933443e-02 -4.23359478e-03 9.99735774e-01 -1.40458954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02719347 meters Centerline goodness [0,1] 0.8771720470627643 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.09, Z:-1.41 [[ 9.99374156e-01 -2.70783618e-02 -2.27609131e-02 4.53566789e+00] [ 2.70376026e-02 9.99632218e-01 -2.09664632e-03 -9.06121526e-02] [ 2.28093158e-02 1.47993362e-03 9.99738738e-01 -1.40500443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05719347 meters Centerline goodness [0,1] 0.877737072595587 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.09, Z:-1.40 [[ 9.99363908e-01 -2.74629870e-02 -2.27500371e-02 4.53538623e+00] [ 2.74381338e-02 9.99622518e-01 -1.40393791e-03 -9.43565614e-02] [ 2.27800057e-02 7.78826314e-04 9.99740199e-01 -1.40467587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08719347 meters Centerline goodness [0,1] 0.8734937229709872 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.10, Z:-1.40 [[ 9.99356259e-01 -2.75932369e-02 -2.29277442e-02 4.53571404e+00] [ 2.75891655e-02 9.99619224e-01 -4.93935424e-04 -9.80703895e-02] [ 2.29326432e-02 -1.38939875e-04 9.99737003e-01 -1.40466059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11719347 meters Centerline goodness [0,1] 0.8714282706196963 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.10, Z:-1.40 [[ 9.99357408e-01 -2.75204233e-02 -2.29651355e-02 4.53586593e+00] [ 2.75354844e-02 9.99620769e-01 3.39803938e-04 -1.01462068e-01] [ 2.29470749e-02 -9.71941713e-04 9.99736209e-01 -1.40474338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14719347 meters Centerline goodness [0,1] 0.8762009101634923 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.10, Z:-1.41 [[ 9.99370962e-01 -2.68536860e-02 -2.31637739e-02 4.53689228e+00] [ 2.68977670e-02 9.99636920e-01 1.59349344e-03 -1.04864829e-01] [ 2.31125724e-02 -2.21554487e-03 9.99730414e-01 -1.40553172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17719347 meters Centerline goodness [0,1] 0.8782246065508498 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 9.99387796e-01 -2.57169494e-02 -2.37207203e-02 4.53922081e+00] [ 2.57897470e-02 9.99663557e-01 2.76810034e-03 -1.05511341e-01] [ 2.36415525e-02 -3.37815707e-03 9.99714792e-01 -1.40707310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20719347 meters Centerline goodness [0,1] 0.8780712981808263 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 9.99395948e-01 -2.52044032e-02 -2.39265031e-02 4.53975370e+00] [ 2.52828051e-02 9.99675897e-01 2.97990178e-03 -1.05045566e-01] [ 2.38436419e-02 -3.58303088e-03 9.99709279e-01 -1.40715713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23719347 meters Centerline goodness [0,1] 0.8800925925925926 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99946303 -0.02281958 -0.02351414 4.53793115] [ 0.02294783 0.99972314 0.00519912 -0.1058111 ] [ 0.02338899 -0.00573593 0.99970999 -1.40582217] [ 0. 0. 0. 1. ]] SLAMing on 112.26719347 meters Centerline goodness [0,1] 0.8794723755741919 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99946959 -0.02230452 -0.02372878 4.53805922] [ 0.02244125 0.99973297 0.00551159 -0.10611832] [ 0.02359951 -0.00604117 0.99970324 -1.40529849] [ 0. 0. 0. 1. ]] SLAMing on 112.29719347 meters Centerline goodness [0,1] 0.8791192614245757 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99946702 -0.02217148 -0.02396037 4.53900199] [ 0.02232007 0.99973316 0.00595196 -0.10750338] [ 0.02382201 -0.00648359 0.99969519 -1.40593217] [ 0. 0. 0. 1. ]] SLAMing on 112.32719347 meters Centerline goodness [0,1] 0.879668570711192 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99942219 -0.02347727 -0.02457868 4.54189732] [ 0.02360221 0.99970988 0.00480532 -0.10812696] [ 0.02445874 -0.00538266 0.99968635 -1.4077792 ] [ 0. 0. 0. 1. ]] SLAMing on 112.35719347 meters Centerline goodness [0,1] 0.878779612648719 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99942426 -0.02330145 -0.02466146 4.5421882 ] [ 0.02343387 0.99971241 0.00509408 -0.10868863] [ 0.02453567 -0.00566906 0.99968288 -1.40787715] [ 0. 0. 0. 1. ]] SLAMing on 112.38719347 meters Centerline goodness [0,1] 0.8793655474575557 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99950778 -0.01925239 -0.02476961 4.54211871] [ 0.01948123 0.99976943 0.00903099 -0.10753404] [ 0.02459003 -0.00950908 0.99965239 -1.40769338] [ 0. 0. 0. 1. ]] SLAMing on 112.41719347 meters Centerline goodness [0,1] 0.8788031707983768 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99950526 -0.01861136 -0.02535453 4.5434435 ] [ 0.01885091 0.99977959 0.00924231 -0.10659178] [ 0.02517693 -0.00971569 0.9996358 -1.40791382] [ 0. 0. 0. 1. ]] SLAMing on 112.44719347 meters Centerline goodness [0,1] 0.8809204740567025 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.11, Z:-1.41 [[ 0.99950631 -0.01812104 -0.02566651 4.5442832 ] [ 0.01837171 0.99978548 0.00956443 -0.10741034] [ 0.02548769 -0.01003125 0.99962481 -1.40815025] [ 0. 0. 0. 1. ]] SLAMing on 112.47719347 meters Centerline goodness [0,1] 0.8798464170944451 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.11, Z:-1.41 [[ 0.99947422 -0.0195892 -0.02583709 4.54599043] [ 0.01978854 0.99977619 0.00748238 -0.10883309] [ 0.02568473 -0.00798973 0.99963816 -1.40911427] [ 0. 0. 0. 1. ]] SLAMing on 112.50719347 meters Centerline goodness [0,1] 0.8785387744830768 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.11, Z:-1.41 [[ 0.99947476 -0.01958078 -0.02582226 4.54591716] [ 0.01978442 0.99977497 0.00765447 -0.10925414] [ 0.02566657 -0.00816133 0.99963724 -1.40902754] [ 0. 0. 0. 1. ]] SLAMing on 112.53719347 meters Centerline goodness [0,1] 0.8774197616495365 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.11, Z:-1.41 [[ 0.99947399 -0.01961149 -0.02582883 4.54576432] [ 0.01981805 0.99977345 0.0077655 -0.10955683] [ 0.02567068 -0.00827329 0.99963622 -1.40873423] [ 0. 0. 0. 1. ]] SLAMing on 112.56719347 meters Centerline goodness [0,1] 0.8796379711298736 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.11, Z:-1.41 [[ 0.99946983 -0.01943865 -0.02611902 4.54656903] [ 0.0196593 0.99977296 0.00821781 -0.11097836] [ 0.02595334 -0.00872693 0.99962506 -1.40904566] [ 0. 0. 0. 1. ]] SLAMing on 112.59719347 meters Centerline goodness [0,1] 0.8799857773315765 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.11, Z:-1.41 [[ 0.9994199 -0.02149061 -0.02642016 4.54881886] [ 0.02166143 0.99974616 0.00619636 -0.11336013] [ 0.02628029 -0.00676506 0.99963172 -1.41064357] [ 0. 0. 0. 1. ]] SLAMing on 112.62719347 meters Centerline goodness [0,1] 0.8805703350087275 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.11, Z:-1.41 [[ 0.99941873 -0.02158067 -0.02639092 4.5487495 ] [ 0.02175846 0.99974233 0.00646792 -0.11498942] [ 0.02624454 -0.00703838 0.99963077 -1.41060502] [ 0. 0. 0. 1. ]] SLAMing on 112.65719347 meters Centerline goodness [0,1] 0.8802927998990345 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.12, Z:-1.41 [[ 0.99941553 -0.02161985 -0.02647972 4.54918972] [ 0.02180722 0.99973902 0.00680763 -0.11674165] [ 0.02632563 -0.0073811 0.99962617 -1.41092924] [ 0. 0. 0. 1. ]] SLAMing on 112.68719347 meters Centerline goodness [0,1] 0.8798148732512885 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.12, Z:-1.41 [[ 0.99941532 -0.02160773 -0.02649778 4.54957212] [ 0.02180611 0.99973614 0.00722057 -0.11871763] [ 0.02633477 -0.00779416 0.99962279 -1.41135432] [ 0. 0. 0. 1. ]] SLAMing on 112.71719347 meters Centerline goodness [0,1] 0.8816277753317818 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.12, Z:-1.41 [[ 0.99935098 -0.02397847 -0.02688203 4.55151857] [ 0.02412435 0.99969588 0.00511572 -0.11959578] [ 0.02675118 -0.00576092 0.99962552 -1.41240527] [ 0. 0. 0. 1. ]] SLAMing on 112.74719347 meters Centerline goodness [0,1] 0.8791775401969862 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.12, Z:-1.41 [[ 0.99934074 -0.02418776 -0.02707473 4.55156779] [ 0.02434107 0.99968941 0.0053474 -0.12055764] [ 0.02693698 -0.0060029 0.99961911 -1.41198085] [ 0. 0. 0. 1. ]] SLAMing on 112.77719347 meters Centerline goodness [0,1] 0.8782795156407669 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.12, Z:-1.41 [[ 0.99932763 -0.02445687 -0.02731575 4.55198451] [ 0.02462193 0.99968046 0.00572258 -0.12231888] [ 0.02716706 -0.0063913 0.99961048 -1.41194437] [ 0. 0. 0. 1. ]] SLAMing on 112.80719347 meters Centerline goodness [0,1] 0.8749606299212598 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.13, Z:-1.41 [[ 0.99925857 -0.03237894 -0.02083085 4.56217735] [ 0.03254521 0.99944066 0.00769262 -0.12820231] [ 0.02057012 -0.00836486 0.99975342 -1.41430818] [ 0. 0. 0. 1. ]] SLAMing on 112.83719347 meters Centerline goodness [0,1] 0.8631327121631831 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.13, Z:-1.42 [[ 0.99913815 -0.03582086 -0.02097183 4.56355054] [ 0.03593087 0.9993423 0.00489237 -0.13154415] [ 0.02078279 -0.00564169 0.9997681 -1.41531444] [ 0. 0. 0. 1. ]] SLAMing on 112.86719347 meters Centerline goodness [0,1] 0.8642921835836299 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.14, Z:-1.42 [[ 0.99912989 -0.03598993 -0.02107569 4.56473675] [ 0.03611688 0.99933146 0.00567409 -0.13517629] [ 0.02085739 -0.00643034 0.99976178 -1.41659932] [ 0. 0. 0. 1. ]] SLAMing on 112.89719347 meters Centerline goodness [0,1] 0.8488978630321387 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 0.99914945 -0.03514513 -0.0215682 4.56759721] [ 0.03530824 0.99935033 0.00722866 -0.13710376] [ 0.02130013 -0.00798405 0.99974125 -1.41918972] [ 0. 0. 0. 1. ]] SLAMing on 112.92719347 meters Centerline goodness [0,1] 0.8340712142512432 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 0.9991842 -0.03364302 -0.02234 4.5707224 ] [ 0.03385447 0.99938484 0.00915544 -0.13729364] [ 0.02201824 -0.00990428 0.99970851 -1.42130499] [ 0. 0. 0. 1. ]] SLAMing on 112.95719347 meters Centerline goodness [0,1] 0.8427427805021166 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 0.99919087 -0.03317311 -0.02274093 4.57126344] [ 0.03339618 0.99939704 0.00950052 -0.13826746] [ 0.02241206 -0.0102523 0.99969625 -1.42089378] [ 0. 0. 0. 1. ]] SLAMing on 112.98719347 meters Centerline goodness [0,1] 0.8693094682884813 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 0.99920855 -0.03246392 -0.02298627 4.571534 ] [ 0.03270029 0.99941534 0.00998323 -0.13972712] [ 0.02264873 -0.01072698 0.99968593 -1.42043421] [ 0. 0. 0. 1. ]] SLAMing on 113.01719347 meters Centerline goodness [0,1] 0.8793081655009691 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 9.99593673e-01 -2.21062683e-02 -1.79945188e-02 4.56738969e+00] [ 2.21855386e-02 9.99744974e-01 4.21758595e-03 -1.41008354e-01] [ 1.78966947e-02 -4.61509032e-03 9.99829190e-01 -1.41846958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04719347 meters Centerline goodness [0,1] 0.8818881045200716 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 0.99962139 -0.0206672 -0.01816413 4.56817525] [ 0.02076007 0.99977229 0.00493892 -0.13971986] [ 0.01805792 -0.00531414 0.99982282 -1.41887562] [ 0. 0. 0. 1. ]] SLAMing on 113.07719347 meters Centerline goodness [0,1] 0.8827555890479779 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 0.99964645 -0.01875368 -0.01884874 4.57068514] [ 0.01887824 0.99980097 0.00645259 -0.14028567] [ 0.01872397 -0.00680614 0.99980152 -1.42022117] [ 0. 0. 0. 1. ]] SLAMing on 113.10719347 meters Centerline goodness [0,1] 0.8824533670565918 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.14, Z:-1.42 [[ 0.99965643 -0.01805119 -0.01900441 4.57105494] [ 0.01818897 0.99980934 0.00710229 -0.14141725] [ 0.01887258 -0.00744552 0.99979417 -1.42022647] [ 0. 0. 0. 1. ]] SLAMing on 113.13719347 meters Centerline goodness [0,1] 0.8841505416744944 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.15, Z:-1.42 [[ 9.99792172e-01 -1.61361194e-02 -1.24594625e-02 4.57970892e+00] [ 1.61553356e-02 9.99868453e-01 1.44319358e-03 -1.45429608e-01] [ 1.24345359e-02 -1.64418044e-03 9.99921336e-01 -1.42235464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16719347 meters Centerline goodness [0,1] 0.8795026089883858 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.15, Z:-1.42 [[ 9.99779500e-01 -1.72290975e-02 -1.20045352e-02 4.57764587e+00] [ 1.72433971e-02 9.99850729e-01 1.08869381e-03 -1.47686404e-01] [ 1.19839860e-02 -1.29545272e-03 9.99927350e-01 -1.42080475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19719347 meters Centerline goodness [0,1] 0.877748405505203 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.15, Z:-1.42 [[ 9.99770922e-01 -1.76103597e-02 -1.21646298e-02 4.57774554e+00] [ 1.76347888e-02 9.99842682e-01 1.90385938e-03 -1.51051390e-01] [ 1.21291884e-02 -2.11794393e-03 9.99924196e-01 -1.42053096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22719347 meters Centerline goodness [0,1] 0.8778953988051567 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.42 [[ 9.99760804e-01 -1.81060004e-02 -1.22681310e-02 4.57770083e+00] [ 1.81400836e-02 9.99831883e-01 2.67261859e-03 -1.55097085e-01] [ 1.22176781e-02 -2.89452423e-03 9.99921172e-01 -1.42024632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25719347 meters Centerline goodness [0,1] 0.8744740092532501 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.42 [[ 9.99645213e-01 -2.38876557e-02 -1.17824938e-02 4.57555610e+00] [ 2.38643776e-02 9.99712974e-01 -2.11232787e-03 -1.59958093e-01] [ 1.18295704e-02 1.83039657e-03 9.99928353e-01 -1.41812478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28719347 meters Centerline goodness [0,1] 0.8696823625991958 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.42 [[ 9.99637074e-01 -2.41969529e-02 -1.18418058e-02 4.57554978e+00] [ 2.41811649e-02 9.99706505e-01 -1.47462636e-03 -1.63157044e-01] [ 1.18740118e-02 1.18774252e-03 9.99928796e-01 -1.41796681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31719347 meters Centerline goodness [0,1] 0.8700227291859584 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.42 [[ 9.99633279e-01 -2.42445615e-02 -1.20627373e-02 4.57645498e+00] [ 2.42381728e-02 9.99705984e-01 -6.75551915e-04 -1.65894532e-01] [ 1.20755691e-02 3.82925464e-04 9.99927014e-01 -1.41867154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34719347 meters Centerline goodness [0,1] 0.8700227291859584 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.42 [[ 9.99633279e-01 -2.42445615e-02 -1.20627373e-02 4.57645498e+00] [ 2.42381728e-02 9.99705984e-01 -6.75551915e-04 -1.65894532e-01] [ 1.20755691e-02 3.82925464e-04 9.99927014e-01 -1.41867154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37719347 meters Centerline goodness [0,1] 0.8568664970456505 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.42 [[ 9.99632475e-01 -2.39627255e-02 -1.26768371e-02 4.57959007e+00] [ 2.39726949e-02 9.99712412e-01 6.35033190e-04 -1.68030206e-01] [ 1.26579743e-02 -9.38697749e-04 9.99919444e-01 -1.42160129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40719347 meters Centerline goodness [0,1] 0.8407569813062543 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.42 [[ 9.99642215e-01 -2.33206972e-02 -1.30990979e-02 4.58170082e+00] [ 2.33424327e-02 9.99726390e-01 1.50886329e-03 -1.68531407e-01] [ 1.30603261e-02 -1.81408826e-03 9.99913065e-01 -1.42327464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43719347 meters Centerline goodness [0,1] 0.8546923999747438 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.42 [[ 9.99639532e-01 -2.33636356e-02 -1.32267037e-02 4.58213733e+00] [ 2.33876601e-02 9.99725085e-01 1.66458598e-03 -1.69200049e-01] [ 1.31841767e-02 -1.97332760e-03 9.99911138e-01 -1.42348435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46719347 meters Centerline goodness [0,1] 0.8347012269167957 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.42 [[ 9.99569423e-01 -2.59444082e-02 -1.37060837e-02 4.58445628e+00] [ 2.59333569e-02 9.99663190e-01 -9.83459330e-04 -1.69394750e-01] [ 1.37269827e-02 6.27591114e-04 9.99905584e-01 -1.42488940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49719347 meters Centerline goodness [0,1] 0.8134358218384753 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.42 [[ 9.99551169e-01 -2.67490521e-02 -1.34888509e-02 4.58392308e+00] [ 2.67341443e-02 9.99641754e-01 -1.28433427e-03 -1.69936526e-01] [ 1.35183733e-02 9.23144935e-04 9.99908196e-01 -1.42466672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52719347 meters Centerline goodness [0,1] 0.8439556267926438 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.43 [[ 9.99542171e-01 -2.70180407e-02 -1.36188814e-02 4.58446589e+00] [ 2.70000444e-02 9.99634302e-01 -1.50359150e-03 -1.69290774e-01] [ 1.36545250e-02 1.13519271e-03 9.99906128e-01 -1.42504717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55719347 meters Centerline goodness [0,1] 0.822694287401907 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.43 [[ 9.99530280e-01 -2.74207260e-02 -1.36865806e-02 4.58479844e+00] [ 2.73989414e-02 9.99623000e-01 -1.77669249e-03 -1.68859604e-01] [ 1.37301390e-02 1.40086012e-03 9.99904756e-01 -1.42529605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58719347 meters Centerline goodness [0,1] 0.809593023255814 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.17, Z:-1.43 [[ 9.99520734e-01 -2.77488143e-02 -1.37224767e-02 4.58515482e+00] [ 2.77241810e-02 9.99613646e-01 -1.98212736e-03 -1.68619953e-01] [ 1.37721766e-02 1.60073296e-03 9.99903878e-01 -1.42563067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61719347 meters Centerline goodness [0,1] 0.8010434855784403 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.17, Z:-1.43 [[ 9.99509846e-01 -2.80801023e-02 -1.38410880e-02 4.58565610e+00] [ 2.80522826e-02 9.99604036e-01 -2.20003748e-03 -1.68031366e-01] [ 1.38973848e-02 1.81068501e-03 9.99901787e-01 -1.42597955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64719347 meters Centerline goodness [0,1] 0.7788631207461558 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.16, Z:-1.43 [[ 9.99483611e-01 -2.90061422e-02 -1.38259053e-02 4.58611087e+00] [ 2.89647936e-02 9.99575369e-01 -3.18162630e-03 -1.64899850e-01] [ 1.39123211e-02 2.77951885e-03 9.99899356e-01 -1.42661317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67719347 meters Centerline goodness [0,1] 0.7751776628400824 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.17, Z:-1.43 [[ 9.99560383e-01 -2.61864073e-02 -1.39036702e-02 4.58640332e+00] [ 2.61921845e-02 9.99656899e-01 2.33550416e-04 -1.65014795e-01] [ 1.38927840e-02 -5.97615238e-04 9.99903312e-01 -1.42713158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70719347 meters Centerline goodness [0,1] 0.7836833773087071 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.16, Z:-1.43 [[ 9.99554387e-01 -2.63400782e-02 -1.40438109e-02 4.58724603e+00] [ 2.63400849e-02 9.99653023e-01 -1.84521819e-04 -1.63433800e-01] [ 1.40437984e-02 -1.85475579e-04 9.99901364e-01 -1.42787588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73719347 meters Centerline goodness [0,1] 0.7949026056159878 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.16, Z:-1.43 [[ 9.99618881e-01 -2.34825345e-02 -1.45142763e-02 4.58985595e+00] [ 2.35100847e-02 9.99722102e-01 1.73042284e-03 -1.59345734e-01] [ 1.44696081e-02 -2.07099521e-03 9.99893165e-01 -1.43016142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76719347 meters Centerline goodness [0,1] 0.793486927693147 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.16, Z:-1.43 [[ 0.9996988 -0.0195778 -0.01479945 4.59048019] [ 0.01965349 0.99979442 0.00498618 -0.1568122 ] [ 0.01469879 -0.00527553 0.99987805 -1.43038731] [ 0. 0. 0. 1. ]] SLAMing on 113.79719347 meters Centerline goodness [0,1] 0.8035942978312444 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.15, Z:-1.43 [[ 0.99976599 -0.01554573 -0.01504284 4.59084784] [ 0.01566709 0.99984539 0.00798325 -0.15315008] [ 0.01491641 -0.00821706 0.99985498 -1.4303272 ] [ 0. 0. 0. 1. ]] SLAMing on 113.82719347 meters Centerline goodness [0,1] 0.853701846745216 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.15, Z:-1.43 [[ 0.99981977 -0.01060027 -0.01574993 4.5925641 ] [ 0.01078304 0.99987498 0.01156515 -0.14932383] [ 0.01562536 -0.0117329 0.99980908 -1.43080246] [ 0. 0. 0. 1. ]] SLAMing on 113.85719347 meters Centerline goodness [0,1] 0.8775955367255338 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.14, Z:-1.43 [[ 9.99871990e-01 1.75706573e-03 -1.59033574e-02 4.59315420e+00] [-1.40672626e-03 9.99756679e-01 2.20137175e-02 -1.43298289e-01] [ 1.59381674e-02 -2.19885278e-02 9.99631172e-01 -1.43117020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88719347 meters Centerline goodness [0,1] 0.8775269789847908 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.14, Z:-1.43 [[ 0.99985657 0.00562765 -0.01597387 4.59332962] [-0.00522555 0.99967119 0.02510397 -0.14005221] [ 0.01610989 -0.0250169 0.99955722 -1.43114803] [ 0. 0. 0. 1. ]] SLAMing on 113.91719347 meters Centerline goodness [0,1] 0.8765661932353003 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.14, Z:-1.43 [[ 0.99984688 0.00611883 -0.01639446 4.59426632] [-0.00571632 0.9996838 0.02448731 -0.13607184] [ 0.01653911 -0.02438985 0.9995657 -1.43117457] [ 0. 0. 0. 1. ]] SLAMing on 113.94719347 meters Centerline goodness [0,1] 0.8770059099417419 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.13, Z:-1.43 [[ 0.99984613 0.00589682 -0.01652091 4.59411609] [-0.00550932 0.99971093 0.0234031 -0.13280423] [ 0.01665413 -0.02330848 0.99958959 -1.43060183] [ 0. 0. 0. 1. ]] SLAMing on 113.97719347 meters Centerline goodness [0,1] 0.8767874015748032 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.13, Z:-1.43 [[ 0.99984224 0.00618553 -0.01665021 4.59450518] [-0.00581024 0.99973009 0.022494 -0.13000237] [ 0.01678486 -0.02239371 0.99960832 -1.43054399] [ 0. 0. 0. 1. ]] SLAMing on 114.00719347 meters Centerline goodness [0,1] 0.878388247814202 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.43 [[ 0.99983858 0.00615253 -0.01688097 4.59513516] [-0.00577961 0.99974012 0.02205197 -0.12877483] [ 0.01701226 -0.02195085 0.9996143 -1.4307258 ] [ 0. 0. 0. 1. ]] SLAMing on 114.03719347 meters Centerline goodness [0,1] 0.8762536904039029 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.43 [[ 0.99983338 0.00625129 -0.01715052 4.59594508] [-0.0058759 0.99974396 0.02185155 -0.12788341] [ 0.01728273 -0.02174714 0.99961411 -1.43110305] [ 0. 0. 0. 1. ]] SLAMing on 114.06719347 meters Centerline goodness [0,1] 0.8798435833629576 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.43 [[ 0.99982858 0.00629518 -0.01741196 4.59674395] [-0.0059149 0.99974473 0.02180579 -0.12758447] [ 0.01754479 -0.02169906 0.99961059 -1.43148474] [ 0. 0. 0. 1. ]] SLAMing on 114.09719347 meters Centerline goodness [0,1] 0.8774579831932773 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.43 [[ 0.99982192 0.00636266 -0.01776653 4.59770814] [-0.0059709 0.99973977 0.02201676 -0.12729026] [ 0.01790199 -0.02190676 0.99959973 -1.43186343] [ 0. 0. 0. 1. ]] SLAMing on 114.12719347 meters Centerline goodness [0,1] 0.879942412418887 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.43 [[ 0.99981374 0.00652847 -0.0181624 4.59900911] [-0.00612059 0.99972983 0.02242321 -0.12803984] [ 0.01830389 -0.02230787 0.99958358 -1.43256076] [ 0. 0. 0. 1. ]] SLAMing on 114.15719347 meters Centerline goodness [0,1] 0.8792847121887891 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.43 [[ 9.99822932e-01 3.06630917e-03 -1.85661647e-02 4.60024882e+00] [-2.71759759e-03 9.99819979e-01 1.87782873e-02 -1.28198912e-01] [ 1.86204024e-02 -1.87245069e-02 9.99651276e-01 -1.43312218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18719347 meters Centerline goodness [0,1] 0.8779056362531179 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.43 [[ 9.99820380e-01 -5.68641404e-04 -1.89442661e-02 4.60159440e+00] [ 8.60524175e-04 9.99880999e-01 1.54028596e-02 -1.30464813e-01] [ 1.89332530e-02 -1.54163949e-02 9.99701889e-01 -1.43391609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21719347 meters Centerline goodness [0,1] 0.8774806768330896 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.14, Z:-1.43 [[ 0.9997887 -0.00708821 -0.01929558 4.60330613] [ 0.00728286 0.99992312 0.010036 -0.13773579] [ 0.01922296 -0.01017441 0.99976345 -1.43492793] [ 0. 0. 0. 1. ]] SLAMing on 114.24719347 meters Centerline goodness [0,1] 0.8787260020208825 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.14, Z:-1.43 [[ 0.99977512 -0.00942808 -0.01899518 4.60101645] [ 0.00958615 0.99992004 0.00824733 -0.14046669] [ 0.01891591 -0.00842757 0.99978556 -1.43265925] [ 0. 0. 0. 1. ]] SLAMing on 114.27719347 meters Centerline goodness [0,1] 0.8758473512427818 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.43 [[ 0.99983815 -0.01322106 -0.01220166 4.61054761] [ 0.01339306 0.99981054 0.01412455 -0.14445088] [ 0.01201261 -0.01428568 0.99982579 -1.43490287] [ 0. 0. 0. 1. ]] SLAMing on 114.30719347 meters Centerline goodness [0,1] 0.8755500607686182 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.15, Z:-1.43 [[ 0.99978548 -0.0166152 -0.01236669 4.61074964] [ 0.01675326 0.99979754 0.01114459 -0.14669326] [ 0.01217901 -0.01134938 0.99986142 -1.43449693] [ 0. 0. 0. 1. ]] SLAMing on 114.33719347 meters Centerline goodness [0,1] 0.8745034081880149 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.15, Z:-1.44 [[ 0.99973119 -0.01931764 -0.01282068 4.61288494] [ 0.01943595 0.99976906 0.00916888 -0.15081015] [ 0.0126406 -0.0094156 0.99987577 -1.43585165] [ 0. 0. 0. 1. ]] SLAMing on 114.36719347 meters Centerline goodness [0,1] 0.8716710073090818 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 0.99960196 -0.02487561 -0.01330884 4.61642873] [ 0.02494297 0.99967677 0.00491914 -0.15823332] [ 0.01318217 -0.00524914 0.99989933 -1.43879775] [ 0. 0. 0. 1. ]] SLAMing on 114.39719347 meters Centerline goodness [0,1] 0.8693126815101646 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 0.99959707 -0.02509872 -0.01325751 4.61693406] [ 0.02517745 0.99966614 0.00580531 -0.16222335] [ 0.01310737 -0.00613676 0.99989526 -1.43957946] [ 0. 0. 0. 1. ]] SLAMing on 114.42719347 meters Centerline goodness [0,1] 0.8581389959763214 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 0.99959113 -0.02530764 -0.01330775 4.61723595] [ 0.02539678 0.99965584 0.00657246 -0.16551476] [ 0.01313684 -0.00690775 0.99988985 -1.43984921] [ 0. 0. 0. 1. ]] SLAMing on 114.45719347 meters Centerline goodness [0,1] 0.8398471134258774 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 0.9995651 -0.02615947 -0.01361218 4.61747016] [ 0.02625574 0.99963115 0.00694225 -0.16881514] [ 0.01342556 -0.00729663 0.99988325 -1.43942269] [ 0. 0. 0. 1. ]] SLAMing on 114.48719347 meters Centerline goodness [0,1] 0.8333052489678996 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 0.99956103 -0.02631428 -0.01361292 4.61698374] [ 0.02641167 0.99962647 0.00702469 -0.16959673] [ 0.01342299 -0.00738115 0.99988266 -1.43867558] [ 0. 0. 0. 1. ]] SLAMing on 114.51719347 meters Centerline goodness [0,1] 0.8367553225093183 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 0.99955146 -0.02656465 -0.01382732 4.61698943] [ 0.0266627 0.99962029 0.00695511 -0.17033691] [ 0.01363731 -0.00732067 0.99988021 -1.43813868] [ 0. 0. 0. 1. ]] SLAMing on 114.54719347 meters Centerline goodness [0,1] 0.8378151788895642 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 9.99469577e-01 -2.92280308e-02 -1.43627224e-02 4.61881761e+00] [ 2.92859951e-02 9.99563689e-01 3.84208609e-03 -1.69397237e-01] [ 1.42441592e-02 -4.26067477e-03 9.99889469e-01 -1.43874012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57719347 meters Centerline goodness [0,1] 0.8286111520717911 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 9.99430053e-01 -3.08279410e-02 -1.37552651e-02 4.61593790e+00] [ 3.08612984e-02 9.99521213e-01 2.21938136e-03 -1.67485574e-01] [ 1.36802603e-02 -2.64262178e-03 9.99902929e-01 -1.43625677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60719347 meters Centerline goodness [0,1] 0.8031391830559758 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 9.99421352e-01 -3.10274212e-02 -1.39377636e-02 4.61621054e+00] [ 3.10583719e-02 9.99515552e-01 2.00964879e-03 -1.66675586e-01] [ 1.38686573e-02 -2.44137015e-03 9.99900845e-01 -1.43614778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63719347 meters Centerline goodness [0,1] 0.8114736974052563 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.44 [[ 9.99412616e-01 -3.11936970e-02 -1.41907161e-02 4.61709147e+00] [ 3.12225772e-02 9.99510803e-01 1.81811801e-03 -1.65984203e-01] [ 1.41270603e-02 -2.26012081e-03 9.99897654e-01 -1.43667630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66719347 meters Centerline goodness [0,1] 0.7812992250015752 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 9.99401137e-01 -3.15836508e-02 -1.41365074e-02 4.61807484e+00] [ 3.16068121e-02 9.99499374e-01 1.41794091e-03 -1.64857587e-01] [ 1.40846465e-02 -1.86390170e-03 9.99899069e-01 -1.43817866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69719347 meters Centerline goodness [0,1] 0.7818514160853853 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 9.99393508e-01 -3.17264798e-02 -1.43542966e-02 4.61899821e+00] [ 3.17474784e-02 9.99495156e-01 1.23733019e-03 -1.64028612e-01] [ 1.43077938e-02 -1.69229248e-03 9.99896206e-01 -1.43890953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72719347 meters Centerline goodness [0,1] 0.7906279484222665 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 9.99388066e-01 -3.17786531e-02 -1.46154468e-02 4.62000137e+00] [ 3.17964911e-02 9.99493874e-01 9.89679285e-04 -1.62676331e-01] [ 1.45765988e-02 -1.45379359e-03 9.99892699e-01 -1.43958888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75719347 meters Centerline goodness [0,1] 0.7793282628281686 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 9.99475771e-01 -2.88003227e-02 -1.47893526e-02 4.62144311e+00] [ 2.88546354e-02 9.99577588e-01 3.47221902e-03 -1.59722674e-01] [ 1.46831043e-02 -3.89714016e-03 9.99884603e-01 -1.44111724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78719347 meters Centerline goodness [0,1] 0.802538135059041 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 9.99483650e-01 -2.84129286e-02 -1.50046013e-02 4.62237967e+00] [ 2.84646158e-02 9.99589542e-01 3.24245604e-03 -1.57572841e-01] [ 1.49063148e-02 -3.66788201e-03 9.99882167e-01 -1.44177148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81719347 meters Centerline goodness [0,1] 0.8056035027154465 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.44 [[ 0.99957534 -0.02498254 -0.01500045 4.622285 ] [ 0.0250843 0.99966332 0.00663477 -0.15665781] [ 0.01482965 -0.00700823 0.99986547 -1.44194228] [ 0. 0. 0. 1. ]] SLAMing on 114.84719347 meters Centerline goodness [0,1] 0.80687742419819 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.44 [[ 0.99957329 -0.02498188 -0.01513781 4.62231959] [ 0.02507219 0.99966879 0.00580556 -0.15328599] [ 0.01498776 -0.00618262 0.99986856 -1.44145903] [ 0. 0. 0. 1. ]] SLAMing on 114.87719347 meters Centerline goodness [0,1] 0.8353801169590643 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.44 [[ 0.99964432 -0.02219642 -0.01478326 4.6200545 ] [ 0.02230498 0.99972514 0.00721981 -0.14676566] [ 0.01461894 -0.00754698 0.99986466 -1.43926781] [ 0. 0. 0. 1. ]] SLAMing on 114.90719347 meters Centerline goodness [0,1] 0.8381232037985755 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.14, Z:-1.44 [[ 0.99965925 -0.02109528 -0.01537447 4.622393 ] [ 0.02121336 0.9997464 0.00755783 -0.14403093] [ 0.01521113 -0.0078814 0.99985324 -1.44071821] [ 0. 0. 0. 1. ]] SLAMing on 114.93719347 meters Centerline goodness [0,1] 0.8509747839071273 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.14, Z:-1.44 [[ 0.99966321 -0.02068568 -0.01567059 4.62380244] [ 0.02079995 0.99975799 0.00716409 -0.14152671] [ 0.01551861 -0.00748762 0.99985154 -1.44181453] [ 0. 0. 0. 1. ]] SLAMing on 114.96719347 meters Centerline goodness [0,1] 0.8609732503364738 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.14, Z:-1.44 [[ 0.999675 -0.01961804 -0.01627968 4.62680171] [ 0.01974289 0.99977663 0.00754396 -0.13962341] [ 0.01612805 -0.00786291 0.99983902 -1.44420058] [ 0. 0. 0. 1. ]] SLAMing on 114.99719347 meters Centerline goodness [0,1] 0.8698058027730438 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.14, Z:-1.45 [[ 0.99968284 -0.01874809 -0.01681445 4.62934285] [ 0.01887913 0.99979236 0.00766868 -0.13722633] [ 0.01666719 -0.00798369 0.99982922 -1.44619279] [ 0. 0. 0. 1. ]] SLAMing on 115.02719347 meters Centerline goodness [0,1] 0.8836345318304892 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-1.45 [[ 0.99973329 -0.01544591 -0.01716905 4.6309478 ] [ 0.01561643 0.99982961 0.00984225 -0.13128706] [ 0.0170141 -0.01010774 0.99980416 -1.44745323] [ 0. 0. 0. 1. ]] SLAMing on 115.05719347 meters Centerline goodness [0,1] 0.8860788717023107 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-1.45 [[ 0.99973002 -0.01552857 -0.01728414 4.63106459] [ 0.01568531 0.99983674 0.00896982 -0.12764677] [ 0.01714203 -0.0092385 0.99981038 -1.4472057 ] [ 0. 0. 0. 1. ]] SLAMing on 115.08719347 meters Centerline goodness [0,1] 0.8880269814502529 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99972899 -0.01542656 -0.01743456 4.63172667] [ 0.01557056 0.99984552 0.00815425 -0.12395468] [ 0.01730607 -0.0084235 0.99981476 -1.44754242] [ 0. 0. 0. 1. ]] SLAMing on 115.11719347 meters Centerline goodness [0,1] 0.8870387133444203 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99972235 -0.01545986 -0.01778237 4.63319206] [ 0.01560516 0.99984573 0.00806143 -0.12397928] [ 0.017655 -0.00833668 0.99980938 -1.44866488] [ 0. 0. 0. 1. ]] SLAMing on 115.14719347 meters Centerline goodness [0,1] 0.8894865114715522 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99971746 -0.0154855 -0.0180335 4.63425364] [ 0.01563317 0.99984517 0.00807672 -0.12451315] [ 0.01790563 -0.00835636 0.99980476 -1.4494676 ] [ 0. 0. 0. 1. ]] SLAMing on 115.17719347 meters Centerline goodness [0,1] 0.8895699060617549 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99971585 -0.01543481 -0.01816559 4.6346955 ] [ 0.0155828 0.99984631 0.00803365 -0.12449345] [ 0.0180388 -0.00831444 0.99980272 -1.44968071] [ 0. 0. 0. 1. ]] SLAMing on 115.20719346999999 meters Centerline goodness [0,1] 0.8942721114117327 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99970892 -0.01556581 -0.01843291 4.63436201] [ 0.0157078 0.99984787 0.00758354 -0.1235292 ] [ 0.01831206 -0.00787087 0.99980134 -1.44834956] [ 0. 0. 0. 1. ]] SLAMing on 115.23719347 meters Centerline goodness [0,1] 0.8942721114117327 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99970892 -0.01556581 -0.01843291 4.63436201] [ 0.0157078 0.99984787 0.00758354 -0.1235292 ] [ 0.01831206 -0.00787087 0.99980134 -1.44834956] [ 0. 0. 0. 1. ]] SLAMing on 115.26719347 meters Centerline goodness [0,1] 0.8949937922181772 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99970494 -0.01576832 -0.01847706 4.63387106] [ 0.0159054 0.99984689 0.00729549 -0.12310207] [ 0.01835919 -0.00758722 0.99980267 -1.44756818] [ 0. 0. 0. 1. ]] SLAMing on 115.29719347 meters Centerline goodness [0,1] 0.8927235882758476 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99969893 -0.01586488 -0.01871767 4.63426963] [ 0.01600248 0.99984585 0.00722461 -0.12292583] [ 0.01860017 -0.00752196 0.99979871 -1.4474591 ] [ 0. 0. 0. 1. ]] SLAMing on 115.32719347 meters Centerline goodness [0,1] 0.8944991703597908 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99969826 -0.01579155 -0.01881542 4.63477538] [ 0.01593127 0.99984644 0.00729972 -0.12248234] [ 0.01869726 -0.00759727 0.99979633 -1.44784948] [ 0. 0. 0. 1. ]] SLAMing on 115.35719347 meters Centerline goodness [0,1] 0.8937101910828026 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.12, Z:-1.45 [[ 0.99969537 -0.01581857 -0.01894578 4.63516727] [ 0.01596041 0.99984555 0.00735852 -0.12311132] [ 0.01882645 -0.00765866 0.99979343 -1.44803587] [ 0. 0. 0. 1. ]] SLAMing on 115.38719347 meters Centerline goodness [0,1] 0.8946474264860104 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99968528 -0.01674908 -0.01867648 4.63361739] [ 0.01687352 0.99983634 0.00652523 -0.12391183] [ 0.01856413 -0.00683832 0.99980429 -1.44670208] [ 0. 0. 0. 1. ]] SLAMing on 115.41719347 meters Centerline goodness [0,1] 0.8956839058764313 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.12, Z:-1.45 [[ 0.99968413 -0.01695891 -0.0185483 4.63293997] [ 0.01708125 0.99983326 0.00645685 -0.1249899 ] [ 0.01843571 -0.00677164 0.99980712 -1.44610583] [ 0. 0. 0. 1. ]] SLAMing on 115.44719347 meters Centerline goodness [0,1] 0.8983118548573591 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-1.44 [[ 0.99971192 -0.01575131 -0.0181101 4.63068715] [ 0.01588928 0.99984563 0.00749959 -0.12599324] [ 0.01798918 -0.00778518 0.99980787 -1.4440574 ] [ 0. 0. 0. 1. ]] SLAMing on 115.47719347 meters Centerline goodness [0,1] 0.897514812721144 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-1.44 [[ 0.99971608 -0.01474674 -0.01871589 4.63240133] [ 0.01490633 0.99985347 0.00841613 -0.12636615] [ 0.01858904 -0.00869273 0.99978942 -1.44477148] [ 0. 0. 0. 1. ]] SLAMing on 115.50719347 meters Centerline goodness [0,1] 0.9007732768918041 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-1.45 [[ 0.99972228 -0.01406128 -0.01891143 4.63315572] [ 0.01423234 0.99985874 0.00894122 -0.12640021] [ 0.01878303 -0.00920789 0.99978118 -1.4451631 ] [ 0. 0. 0. 1. ]] SLAMing on 115.53719347 meters Centerline goodness [0,1] 0.9044033050936094 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-1.45 [[ 0.99972941 -0.01257294 -0.01957103 4.635573 ] [ 0.01277522 0.99986591 0.01024472 -0.12694761] [ 0.0194396 -0.01049197 0.99975598 -1.44658124] [ 0. 0. 0. 1. ]] SLAMing on 115.56719347 meters Centerline goodness [0,1] 0.9009790738717539 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-1.45 [[ 0.99977798 -0.0076281 -0.01964177 4.63558093] [ 0.00793463 0.99984721 0.01557556 -0.13094093] [ 0.01951996 -0.01572795 0.99968575 -1.44641834] [ 0. 0. 0. 1. ]] SLAMing on 115.59719347 meters Centerline goodness [0,1] 0.9054008721905401 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-1.45 [[ 0.99977913 -0.00709566 -0.01978231 4.63561385] [ 0.00741751 0.99984054 0.01624393 -0.13303198] [ 0.0196639 -0.01638708 0.99967234 -1.44600711] [ 0. 0. 0. 1. ]] SLAMing on 115.62719347 meters Centerline goodness [0,1] 0.901652407314209 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-1.45 [[ 0.99975504 -0.00893328 -0.02024989 4.63709129] [ 0.00921616 0.99986064 0.01391954 -0.13446495] [ 0.02012272 -0.01410276 0.99969805 -1.44633325] [ 0. 0. 0. 1. ]] SLAMing on 115.65719347 meters Centerline goodness [0,1] 0.9031356982336757 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.14, Z:-1.45 [[ 0.99975512 -0.0083823 -0.02048027 4.63758121] [ 0.00868767 0.99985174 0.01486709 -0.13737855] [ 0.02035261 -0.01504138 0.99967971 -1.44638531] [ 0. 0. 0. 1. ]] SLAMing on 115.68719347 meters Centerline goodness [0,1] 0.9046200952121302 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.14, Z:-1.45 [[ 0.99973764 -0.00805781 -0.02144098 4.64232089] [ 0.00839352 0.99984287 0.01561345 -0.14171485] [ 0.0213118 -0.01578932 0.99964819 -1.44966003] [ 0. 0. 0. 1. ]] SLAMing on 115.71719347 meters Centerline goodness [0,1] 0.9041799429817206 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.14, Z:-1.45 [[ 0.99971042 -0.00992702 -0.02192079 4.64471356] [ 0.01022636 0.99985541 0.01358594 -0.14298809] [ 0.02178276 -0.01380618 0.9996674 -1.45121065] [ 0. 0. 0. 1. ]] SLAMing on 115.74719347 meters Centerline goodness [0,1] 0.9051696996410805 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.15, Z:-1.45 [[ 0.99971125 -0.00946358 -0.02208742 4.64495308] [ 0.00978832 0.9998449 0.0146411 -0.14635893] [ 0.02194544 -0.01485307 0.99964883 -1.45106783] [ 0. 0. 0. 1. ]] SLAMing on 115.77719347 meters Centerline goodness [0,1] 0.9065889285938186 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.15, Z:-1.45 [[ 0.99967749 -0.0116817 -0.02254887 4.64597381] [ 0.01198473 0.99983905 0.0133507 -0.15376033] [ 0.02238929 -0.01361663 0.99965659 -1.45085978] [ 0. 0. 0. 1. ]] SLAMing on 115.80719347 meters Centerline goodness [0,1] 0.9071081714668453 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.16, Z:-1.45 [[ 0.9996333 -0.01475165 -0.02270812 4.64666358] [ 0.0149999 0.99982915 0.01080119 -0.15743869] [ 0.0225449 -0.01113784 0.99968379 -1.45109002] [ 0. 0. 0. 1. ]] SLAMing on 115.83719347 meters Centerline goodness [0,1] 0.9091156064532308 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.16, Z:-1.45 [[ 0.9995837 -0.01745569 -0.02297227 4.64814558] [ 0.01765917 0.99980634 0.00868512 -0.16132697] [ 0.02281622 -0.00908718 0.99969838 -1.45198095] [ 0. 0. 0. 1. ]] SLAMing on 115.86719347 meters Centerline goodness [0,1] 0.9124818851994203 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.17, Z:-1.45 [[ 0.99952353 -0.02082847 -0.02277901 4.64759425] [ 0.02099302 0.99975506 0.00700863 -0.17128464] [ 0.02262745 -0.00748349 0.99971596 -1.45129014] [ 0. 0. 0. 1. ]] SLAMing on 115.89719347 meters Centerline goodness [0,1] 0.9131291120144156 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.18, Z:-1.45 [[ 0.999451 -0.02375361 -0.02309675 4.64879036] [ 0.02387862 0.99970159 0.00515197 -0.17649201] [ 0.02296748 -0.00570066 0.99971996 -1.45168972] [ 0. 0. 0. 1. ]] SLAMing on 115.92719347 meters Centerline goodness [0,1] 0.9122412051843124 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.18, Z:-1.45 [[ 9.99364312e-01 -2.70119308e-02 -2.32664440e-02 4.64946205e+00] [ 2.70917399e-02 9.99628077e-01 3.12181790e-03 -1.81920290e-01] [ 2.31734644e-02 -3.75016185e-03 9.99724425e-01 -1.45177933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95719346999999 meters Centerline goodness [0,1] 0.9138677883106284 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.19, Z:-1.45 [[ 9.99259054e-01 -3.03943546e-02 -2.36120121e-02 4.65066977e+00] [ 3.04307429e-02 9.99536177e-01 1.18322649e-03 -1.87850309e-01] [ 2.35650969e-02 -1.90088086e-03 9.99720497e-01 -1.45210561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98719347 meters Centerline goodness [0,1] 0.9113934666834402 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.20, Z:-1.45 [[ 0.99888014 -0.04121385 -0.02323533 4.64895573] [ 0.04107549 0.99913554 -0.0064013 -0.19968447] [ 0.02347907 0.00543973 0.99970953 -1.44935069] [ 0. 0. 0. 1. ]] SLAMing on 116.01719347 meters Centerline goodness [0,1] 0.9080902470850697 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.21, Z:-1.45 [[ 0.99871093 -0.04521427 -0.02306847 4.64867738] [ 0.04502628 0.99894874 -0.00860478 -0.20671375] [ 0.02343328 0.007555 0.99969686 -1.44877082] [ 0. 0. 0. 1. ]] SLAMing on 116.04719347 meters Centerline goodness [0,1] 0.897068990802623 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.21, Z:-1.45 [[ 9.98509534e-01 -5.16980487e-02 -1.74934963e-02 4.65882265e+00] [ 5.16401262e-02 9.98658729e-01 -3.74706369e-03 -2.13678115e-01] [ 1.76637486e-02 2.83811246e-03 9.99839956e-01 -1.45144959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07719347 meters Centerline goodness [0,1] 0.858634134071186 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.22, Z:-1.45 [[ 0.99829806 -0.05566055 -0.01740372 4.65891105] [ 0.05555705 0.99843516 -0.00637569 -0.21860781] [ 0.01773136 0.00539794 0.99982822 -1.45108515] [ 0. 0. 0. 1. ]] SLAMing on 116.10719347 meters Centerline goodness [0,1] 0.8324650224780471 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.22, Z:-1.45 [[ 0.99800914 -0.06071086 -0.0170863 4.65823352] [ 0.06055655 0.99812043 -0.00940854 -0.22363399] [ 0.01762539 0.00835512 0.99980975 -1.45016372] [ 0. 0. 0. 1. ]] SLAMing on 116.13719347 meters Centerline goodness [0,1] 0.812858423873376 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.23, Z:-1.45 [[ 0.99799071 -0.06091607 -0.01742891 4.65916975] [ 0.06076595 0.99811131 -0.00901695 -0.22506962] [ 0.01794527 0.00793975 0.99980745 -1.45045387] [ 0. 0. 0. 1. ]] SLAMing on 116.16719347 meters Centerline goodness [0,1] 0.8330189865459575 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.23, Z:-1.45 [[ 0.99798209 -0.06102607 -0.01753767 4.65955515] [ 0.06088008 0.99810681 -0.00874162 -0.22616316] [ 0.01803794 0.00765628 0.99980799 -1.45061621] [ 0. 0. 0. 1. ]] SLAMing on 116.19719347 meters Centerline goodness [0,1] 0.7780598330046574 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.23, Z:-1.45 [[ 0.99792094 -0.06198725 -0.0176461 4.66007208] [ 0.06182835 0.99804241 -0.00941242 -0.22542366] [ 0.01819501 0.00830183 0.99979999 -1.45091315] [ 0. 0. 0. 1. ]] SLAMing on 116.22719347 meters Centerline goodness [0,1] 0.777153912476605 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.23, Z:-1.45 [[ 0.99808972 -0.05907963 -0.01806928 4.66082975] [ 0.05897983 0.9982411 -0.00600795 -0.22512644] [ 0.01839244 0.00493075 0.99981869 -1.4514594 ] [ 0. 0. 0. 1. ]] SLAMing on 116.25719347 meters Centerline goodness [0,1] 0.7711177968062948 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.22, Z:-1.45 [[ 9.98249587e-01 -5.61468110e-02 -1.85821914e-02 4.66194421e+00] [ 5.61041857e-02 9.98420972e-01 -2.80771317e-03 -2.23820558e-01] [ 1.87104937e-02 1.76025980e-03 9.99823394e-01 -1.45219909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28719347 meters Centerline goodness [0,1] 0.759696937809113 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.22, Z:-1.45 [[ 9.98396495e-01 -5.33455988e-02 -1.89389791e-02 4.66288452e+00] [ 5.33571910e-02 9.98575485e-01 1.06939518e-04 -2.21843795e-01] [ 1.89062954e-02 -1.11729876e-03 9.99820636e-01 -1.45303971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31719347 meters Centerline goodness [0,1] 0.8027298155586868 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.22, Z:-1.45 [[ 9.98476293e-01 -5.17439128e-02 -1.91744405e-02 4.66390938e+00] [ 5.17722789e-02 9.98658430e-01 9.85606560e-04 -2.15418101e-01] [ 1.90977175e-02 -1.97680926e-03 9.99815668e-01 -1.45410121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34719347 meters Centerline goodness [0,1] 0.775549128101945 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.21, Z:-1.45 [[ 9.98433376e-01 -5.24917234e-02 -1.93755890e-02 4.66430990e+00] [ 5.24909028e-02 9.98621250e-01 -5.51268892e-04 -2.10464606e-01] [ 1.93778119e-02 -4.66636896e-04 9.99812124e-01 -1.45404379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37719347 meters Centerline goodness [0,1] 0.7973772286189403 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.21, Z:-1.45 [[ 9.98554403e-01 -5.01068758e-02 -1.94526484e-02 4.66410347e+00] [ 5.01461773e-02 9.98740705e-01 1.53755770e-03 -2.06689602e-01] [ 1.93511096e-02 -2.51081097e-03 9.99809597e-01 -1.45403208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40719347 meters Centerline goodness [0,1] 0.7579331766286098 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.20, Z:-1.46 [[ 9.98574413e-01 -4.94188626e-02 -2.01722138e-02 4.66654190e+00] [ 4.94689882e-02 9.98773671e-01 1.99318884e-03 -2.01904752e-01] [ 2.00489749e-02 -2.98824638e-03 9.99794533e-01 -1.45557708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43719347 meters Centerline goodness [0,1] 0.7475162439740096 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.46 [[ 9.98546644e-01 -4.99064312e-02 -2.03457165e-02 4.66680397e+00] [ 4.99377361e-02 9.98751799e-01 1.03318421e-03 -1.92149373e-01] [ 2.02687584e-02 -2.04770165e-03 9.99792471e-01 -1.45594336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46719347 meters Centerline goodness [0,1] 0.7441544601625676 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.46 [[ 9.98484872e-01 -5.10833058e-02 -2.04562110e-02 4.66703603e+00] [ 5.10792563e-02 9.98694343e-01 -7.20754048e-04 -1.87045914e-01] [ 2.04663207e-02 -3.25226033e-04 9.99790490e-01 -1.45582532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49719347 meters Centerline goodness [0,1] 0.7184808962461333 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.18, Z:-1.46 [[ 9.98492605e-01 -5.10758537e-02 -2.00941392e-02 4.66586035e+00] [ 5.10526781e-02 9.98694574e-01 -1.66498104e-03 -1.76666520e-01] [ 2.01529481e-02 6.36611635e-04 9.99796706e-01 -1.45545236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52719347 meters Centerline goodness [0,1] 0.7127775678965705 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.17, Z:-1.46 [[ 9.98620070e-01 -4.84621559e-02 -2.02330131e-02 4.66653459e+00] [ 4.84721191e-02 9.98824536e-01 2.00343475e-06 -1.70942642e-01] [ 2.02091328e-02 -9.82737688e-04 9.99795292e-01 -1.45626024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55719347 meters Centerline goodness [0,1] 0.7194978833982983 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-1.46 [[ 9.98753330e-01 -4.54536606e-02 -2.06337216e-02 4.66835285e+00] [ 4.54975613e-02 9.98963066e-01 1.66294532e-03 -1.64573856e-01] [ 2.05367389e-02 -2.59965619e-03 9.99785719e-01 -1.45776944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58719347 meters Centerline goodness [0,1] 0.7421512478575311 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-1.46 [[ 9.98869778e-01 -4.25152059e-02 -2.12514267e-02 4.67029938e+00] [ 4.25894340e-02 9.99087996e-01 3.05234441e-03 -1.57619163e-01] [ 2.11022743e-02 -3.95398082e-03 9.99769503e-01 -1.45890268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61719347 meters Centerline goodness [0,1] 0.8093102577059121 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.14, Z:-1.46 [[ 0.99927977 -0.03118032 -0.02162694 4.67097275] [ 0.03136158 0.99947534 0.00809308 -0.14204992] [ 0.02136325 -0.00876551 0.99973335 -1.45833739] [ 0. 0. 0. 1. ]] SLAMing on 116.64719347 meters Centerline goodness [0,1] 0.8511372910083911 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.13, Z:-1.46 [[ 0.99956838 -0.02281135 -0.018512 4.67817083] [ 0.02292251 0.99972033 0.00581485 -0.1327341 ] [ 0.01837417 -0.00623668 0.99981173 -1.45735041] [ 0. 0. 0. 1. ]] SLAMing on 116.67719347 meters Centerline goodness [0,1] 0.8783926163182738 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.12, Z:-1.46 [[ 0.99970679 -0.01553857 -0.01857106 4.67727195] [ 0.01574663 0.99981428 0.01111033 -0.1248389 ] [ 0.01839497 -0.0113995 0.99976581 -1.45602915] [ 0. 0. 0. 1. ]] SLAMing on 116.70719346999999 meters Centerline goodness [0,1] 0.9019849561220226 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.12, Z:-1.45 [[ 0.9998567 -0.00811062 -0.01485902 4.68412639] [ 0.00822891 0.9999348 0.007917 -0.11674443] [ 0.01479383 -0.00803814 0.99985826 -1.4546442 ] [ 0. 0. 0. 1. ]] SLAMing on 116.73719347 meters Centerline goodness [0,1] 0.9245353857706026 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.11, Z:-1.45 [[ 9.99881825e-01 -3.16536265e-03 -1.50437893e-02 4.68492041e+00] [ 3.33083282e-03 9.99934094e-01 1.09869368e-02 -1.10290710e-01] [ 1.50080201e-02 -1.10357468e-02 9.99826471e-01 -1.45465566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76719347 meters Centerline goodness [0,1] 0.926616967223356 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.10, Z:-1.45 [[ 9.99884506e-01 9.32084760e-03 -1.20039824e-02 4.68280260e+00] [-9.27041615e-03 9.99947997e-01 4.25003988e-03 -9.85943342e-02] [ 1.20429722e-02 -4.13826711e-03 9.99918917e-01 -1.45456106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79719347 meters Centerline goodness [0,1] 0.9245743115408871 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.09, Z:-1.45 [[ 9.99875430e-01 1.01185259e-02 -1.21136612e-02 4.68337708e+00] [-1.00740109e-02 9.99942298e-01 3.73018106e-03 -9.46369985e-02] [ 1.21507062e-02 -3.60768324e-03 9.99919669e-01 -1.45454508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82719347 meters Centerline goodness [0,1] 0.9248866689053056 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.09, Z:-1.46 [[ 0.99982547 0.01400358 -0.01236651 4.68451413] [-0.01391615 0.99987776 0.00712763 -0.09278416] [ 0.01246481 -0.00695429 0.99989813 -1.45517766] [ 0. 0. 0. 1. ]] SLAMing on 116.85719347 meters Centerline goodness [0,1] 0.923038059952846 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.46 [[ 0.99982015 0.0140316 -0.01275886 4.68581224] [-0.01394489 0.99987924 0.00685938 -0.09139804] [ 0.01285357 -0.00668022 0.99989507 -1.45585762] [ 0. 0. 0. 1. ]] SLAMing on 116.88719347 meters Centerline goodness [0,1] 0.9221544331928633 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.46 [[ 0.99981107 0.01429762 -0.01316807 4.68722259] [-0.01420671 0.99987478 0.00697139 -0.09089692] [ 0.0132661 -0.006783 0.99988899 -1.45660424] [ 0. 0. 0. 1. ]] SLAMing on 116.91719347 meters Centerline goodness [0,1] 0.9213566038531259 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.46 [[ 0.99980603 0.01448026 -0.01335028 4.68797012] [-0.01438619 0.99987119 0.00711567 -0.09103288] [ 0.0134516 -0.00692223 0.99988556 -1.45705154] [ 0. 0. 0. 1. ]] SLAMing on 116.94719347 meters Centerline goodness [0,1] 0.9196509305015246 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.46 [[ 0.99982959 0.01249196 -0.01359187 4.68921659] [-0.01242615 0.99991071 0.0049161 -0.09316825] [ 0.01365207 -0.00474637 0.99989554 -1.45759089] [ 0. 0. 0. 1. ]] SLAMing on 116.97719347 meters Centerline goodness [0,1] 0.9190287663732468 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.46 [[ 9.99863019e-01 9.08245204e-03 -1.38366448e-02 4.68990492e+00] [-9.06424777e-03 9.99957970e-01 1.37780230e-03 -9.38094841e-02] [ 1.38485771e-02 -1.25219479e-03 9.99903320e-01 -1.45783673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00719347 meters Centerline goodness [0,1] 0.9173919457147072 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.10, Z:-1.46 [[ 9.99885071e-01 5.70420200e-03 -1.40466234e-02 4.69095586e+00] [-5.72960747e-03 9.99982021e-01 -1.76907542e-03 -9.56776583e-02] [ 1.40362797e-02 1.84935374e-03 9.99899776e-01 -1.45866149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03719347 meters Centerline goodness [0,1] 0.9167123056831108 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.10, Z:-1.46 [[ 9.99889977e-01 3.00000680e-03 -1.45270267e-02 4.69313000e+00] [-3.05911027e-03 9.99987128e-01 -4.04800693e-03 -9.87475273e-02] [ 1.45146956e-02 4.09200133e-03 9.99886283e-01 -1.46028742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06719347 meters Centerline goodness [0,1] 0.9161907961034599 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.11, Z:-1.46 [[ 9.99939244e-01 -3.01584427e-03 -1.06024991e-02 4.70569209e+00] [ 3.03294859e-03 9.99994125e-01 1.59752669e-03 -1.06234665e-01] [ 1.05976189e-02 -1.62958646e-03 9.99942516e-01 -1.46450642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09719347 meters Centerline goodness [0,1] 0.9144139398664166 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.11, Z:-1.46 [[ 9.99937726e-01 -4.19243748e-03 -1.03424979e-02 4.70461441e+00] [ 4.20583002e-03 9.99990345e-01 1.27349374e-03 -1.09949265e-01] [ 1.03370589e-02 -1.31691322e-03 9.99945704e-01 -1.46381287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12719347 meters Centerline goodness [0,1] 0.9144139398664166 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.11, Z:-1.46 [[ 9.99937726e-01 -4.19243748e-03 -1.03424979e-02 4.70461441e+00] [ 4.20583002e-03 9.99990345e-01 1.27349374e-03 -1.09949265e-01] [ 1.03370589e-02 -1.31691322e-03 9.99945704e-01 -1.46381287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15719347 meters Centerline goodness [0,1] 0.914765425856875 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.11, Z:-1.46 [[ 9.99937962e-01 -4.55673176e-03 -1.01640547e-02 4.70409705e+00] [ 4.57789952e-03 9.99987399e-01 2.06031643e-03 -1.13821359e-01] [ 1.01545384e-02 -2.10671864e-03 9.99946222e-01 -1.46353128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18719347 meters Centerline goodness [0,1] 0.9148218029350105 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.47 [[ 9.99925986e-01 -1.15727198e-02 -3.75435895e-03 4.71369777e+00] [ 1.15944631e-02 9.99915831e-01 5.82236017e-03 -1.21423788e-01] [ 3.68666241e-03 -5.86545901e-03 9.99976002e-01 -1.46575034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21719347 meters Centerline goodness [0,1] 0.9141268403648082 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.47 [[ 9.99876366e-01 -1.52483194e-02 -3.83957999e-03 4.71388282e+00] [ 1.52592591e-02 9.99879548e-01 2.83621298e-03 -1.24555278e-01] [ 3.79587003e-03 -2.89445147e-03 9.99988607e-01 -1.46559134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24719347 meters Centerline goodness [0,1] 0.9130398515212812 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.13, Z:-1.47 [[ 9.99818313e-01 -1.85586703e-02 -4.34925794e-03 4.71551659e+00] [ 1.85599556e-02 9.99827717e-01 2.55331398e-04 -1.27915765e-01] [ 4.34377003e-03 -3.36007041e-04 9.99990509e-01 -1.46624472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27719347 meters Centerline goodness [0,1] 0.9106012491850854 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.13, Z:-1.47 [[ 9.99803233e-01 -1.93512030e-02 -4.36190082e-03 4.71511011e+00] [ 1.93528351e-02 9.99812661e-01 3.32272292e-04 -1.31948669e-01] [ 4.35465380e-03 -4.16622059e-04 9.99990432e-01 -1.46573584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30719347 meters Centerline goodness [0,1] 0.9075761082241064 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.14, Z:-1.47 [[ 9.99807771e-01 -1.90398834e-02 -4.68015820e-03 4.71621694e+00] [ 1.90481847e-02 9.99817060e-01 1.73559142e-03 -1.36123822e-01] [ 4.64625656e-03 -1.82440631e-03 9.99987542e-01 -1.46650103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33719347 meters Centerline goodness [0,1] 0.9024666498867354 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.14, Z:-1.47 [[ 9.99814991e-01 -1.85363253e-02 -5.13690125e-03 4.71760940e+00] [ 1.85560879e-02 9.99820498e-01 3.82659087e-03 -1.42055277e-01] [ 5.06504824e-03 -3.92120371e-03 9.99979485e-01 -1.46731474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36719347 meters Centerline goodness [0,1] 0.907509715366033 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.14, Z:-1.47 [[ 0.99982532 -0.01791139 -0.00534037 4.71794386] [ 0.01793743 0.99982726 0.00486875 -0.14422435] [ 0.00525225 -0.00496369 0.99997389 -1.46720135] [ 0. 0. 0. 1. ]] SLAMing on 117.39719347 meters Centerline goodness [0,1] 0.9056580102872914 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99983374 -0.01728804 -0.00579764 4.71879002] [ 0.01732155 0.99983326 0.0057806 -0.14576347] [ 0.00569674 -0.00588006 0.99996649 -1.46708595] [ 0. 0. 0. 1. ]] SLAMing on 117.42719347 meters Centerline goodness [0,1] 0.9090641368139843 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99983982 -0.01688742 -0.00592826 4.71871459] [ 0.0169253 0.99983628 0.00639869 -0.14704144] [ 0.00581923 -0.006498 0.99996196 -1.46656648] [ 0. 0. 0. 1. ]] SLAMing on 117.45719346999999 meters Centerline goodness [0,1] 0.910875052587295 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99984874 -0.01630095 -0.00606413 4.71862783] [ 0.01634547 0.99983926 0.00736682 -0.14922762] [ 0.00594307 -0.00746483 0.99995448 -1.46578698] [ 0. 0. 0. 1. ]] SLAMing on 117.48719347 meters Centerline goodness [0,1] 0.9113622096672944 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99985469 -0.01575492 -0.00651025 4.71994234] [ 0.01580795 0.99984162 0.00817598 -0.15086434] [ 0.0063804 -0.00827771 0.99994538 -1.46636667] [ 0. 0. 0. 1. ]] SLAMing on 117.51719347 meters Centerline goodness [0,1] 0.9125423301011716 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99985883 -0.01542034 -0.00667295 4.72043047] [ 0.01547798 0.99984257 0.00867548 -0.15220391] [ 0.00653812 -0.00877754 0.9999401 -1.46657452] [ 0. 0. 0. 1. ]] SLAMing on 117.54719347 meters Centerline goodness [0,1] 0.9122555630478759 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99986744 -0.01485111 -0.00667498 4.72087111] [ 0.01491402 0.99984388 0.00947611 -0.15452028] [ 0.00653321 -0.0095744 0.99993282 -1.46693036] [ 0. 0. 0. 1. ]] SLAMing on 117.57719347 meters Centerline goodness [0,1] 0.9119753918759481 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99986714 -0.0148125 -0.00680444 4.72160069] [ 0.01487683 0.99984417 0.00950295 -0.15465493] [ 0.00666262 -0.00960292 0.99993169 -1.46749818] [ 0. 0. 0. 1. ]] SLAMing on 117.60719347 meters Centerline goodness [0,1] 0.9143959893440732 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99986835 -0.01458167 -0.00711732 4.72239095] [ 0.01465084 0.99984498 0.0097654 -0.15473624] [ 0.00697382 -0.00986839 0.99992699 -1.46768114] [ 0. 0. 0. 1. ]] SLAMing on 117.63719347 meters Centerline goodness [0,1] 0.9140392123934674 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.9998727 -0.01423069 -0.00721663 4.72211439] [ 0.01429954 0.99985185 0.00958131 -0.15331289] [ 0.00707922 -0.00968328 0.99992806 -1.46673584] [ 0. 0. 0. 1. ]] SLAMing on 117.66719347 meters Centerline goodness [0,1] 0.9159487727682408 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99987482 -0.01388936 -0.0075785 4.72295749] [ 0.0139622 0.999856 0.00964518 -0.15279642] [ 0.00744344 -0.00974978 0.99992477 -1.46689884] [ 0. 0. 0. 1. ]] SLAMing on 117.69719347 meters Centerline goodness [0,1] 0.9155560227033845 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99987845 -0.01355521 -0.00770315 4.72347235] [ 0.01362961 0.99986016 0.00968944 -0.15238199] [ 0.00757073 -0.00979325 0.99992339 -1.46717678] [ 0. 0. 0. 1. ]] SLAMing on 117.72719347 meters Centerline goodness [0,1] 0.9145410577226369 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.15, Z:-1.47 [[ 0.99987996 -0.01321842 -0.00808369 4.7247719 ] [ 0.01329853 0.99986219 0.00993715 -0.15289492] [ 0.00795123 -0.01004346 0.99991795 -1.46802031] [ 0. 0. 0. 1. ]] SLAMing on 117.75719347 meters Centerline goodness [0,1] 0.916394472361809 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.15, Z:-1.47 [[ 0.99988036 -0.01300291 -0.00837759 4.72579943] [ 0.0130884 0.99986199 0.01023204 -0.15392469] [ 0.00824338 -0.01034047 0.99991256 -1.46860181] [ 0. 0. 0. 1. ]] SLAMing on 117.78719347 meters Centerline goodness [0,1] 0.9194831846546886 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.15, Z:-1.47 [[ 0.99988234 -0.01260685 -0.00873957 4.7268577 ] [ 0.01269998 0.99986228 0.01068348 -0.15498167] [ 0.00860368 -0.01079321 0.99990474 -1.46899099] [ 0. 0. 0. 1. ]] SLAMing on 117.81719347 meters Centerline goodness [0,1] 0.918515724851761 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.16, Z:-1.47 [[ 0.99988029 -0.01253303 -0.00907371 4.72765518] [ 0.01263176 0.99986074 0.01090608 -0.15551489] [ 0.00893576 -0.01101939 0.99989936 -1.4691645 ] [ 0. 0. 0. 1. ]] SLAMing on 117.84719347 meters Centerline goodness [0,1] 0.9179524910657978 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.16, Z:-1.47 [[ 0.99987897 -0.01239747 -0.00939946 4.72885167] [ 0.01250451 0.99985665 0.01141584 -0.15705227] [ 0.00925658 -0.01153199 0.99989066 -1.4699551 ] [ 0. 0. 0. 1. ]] SLAMing on 117.87719347 meters Centerline goodness [0,1] 0.9178128215358126 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.16, Z:-1.47 [[ 0.99986114 -0.01314403 -0.0102435 4.73279426] [ 0.01325525 0.99985309 0.010867 -0.15813079] [ 0.01009916 -0.01100127 0.99988848 -1.47279916] [ 0. 0. 0. 1. ]] SLAMing on 117.90719347 meters Centerline goodness [0,1] 0.9165448393968506 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.16, Z:-1.48 [[ 0.99987417 -0.0113769 -0.01105481 4.73613516] [ 0.01152428 0.99984433 0.01336049 -0.16293369] [ 0.01090109 -0.01348621 0.99984963 -1.47506222] [ 0. 0. 0. 1. ]] SLAMing on 117.93719347 meters Centerline goodness [0,1] 0.917900403768506 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.17, Z:-1.48 [[ 0.99988088 -0.01062271 -0.01119782 4.73650652] [ 0.01078403 0.9998375 0.01444579 -0.16577657] [ 0.01104255 -0.01456482 0.99983295 -1.47508331] [ 0. 0. 0. 1. ]] SLAMing on 117.96719347 meters Centerline goodness [0,1] 0.9179630760162516 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.17, Z:-1.48 [[ 0.99988685 -0.00973866 -0.01146463 4.73735861] [ 0.00991672 0.99982947 0.01557837 -0.16855218] [ 0.01131097 -0.0156903 0.99981292 -1.47540515] [ 0. 0. 0. 1. ]] SLAMing on 117.99719347 meters Centerline goodness [0,1] 0.9197754895340986 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.17, Z:-1.48 [[ 0.99989341 -0.00843396 -0.01191767 4.73913435] [ 0.00863641 0.99981752 0.01703953 -0.17105019] [ 0.01177178 -0.01714064 0.99978379 -1.47648305] [ 0. 0. 0. 1. ]] SLAMing on 118.02719347 meters Centerline goodness [0,1] 0.9242831917934919 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.18, Z:-1.48 [[ 9.99923334e-01 -1.84601639e-03 -1.22440898e-02 4.74070021e+00] [ 2.14195494e-03 9.99704818e-01 2.42010026e-02 -1.77302202e-01] [ 1.21958002e-02 -2.42253735e-02 9.99632129e-01 -1.47743324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05719347 meters Centerline goodness [0,1] 0.9252529510961214 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.18, Z:-1.48 [[ 9.99920362e-01 -1.94238172e-04 -1.26186897e-02 4.74171769e+00] [ 5.22621766e-04 9.99661143e-01 2.60255067e-02 -1.80325733e-01] [ 1.26093586e-02 -2.60300289e-02 9.99581633e-01 -1.47764609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08719347 meters Centerline goodness [0,1] 0.9247616647767838 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.19, Z:-1.48 [[ 9.99909020e-01 2.91265301e-03 -1.31707689e-02 4.74199612e+00] [-2.52009977e-03 9.99554971e-01 2.97238767e-02 -1.90769367e-01] [ 1.32514828e-02 -2.96879807e-02 9.99471371e-01 -1.47595121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11719347 meters Centerline goodness [0,1] 0.9262351976105841 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.20, Z:-1.48 [[ 9.99912226e-01 2.78444066e-04 -1.32462316e-02 4.74218635e+00] [ 9.10524417e-05 9.99611115e-01 2.78856843e-02 -1.96356805e-01] [ 1.32488449e-02 -2.78844428e-02 9.99523349e-01 -1.47570295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14719347 meters Centerline goodness [0,1] 0.9250318724266934 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.20, Z:-1.48 [[ 9.99906440e-01 -2.76820427e-03 -1.33958035e-02 4.74262889e+00] [ 3.11722855e-03 9.99654362e-01 2.61044016e-02 -2.03159868e-01] [ 1.33189111e-02 -2.61437171e-02 9.99569464e-01 -1.47563425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17719347 meters Centerline goodness [0,1] 0.925762997263734 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.21, Z:-1.47 [[ 0.99987987 -0.00836202 -0.01305051 4.7416459 ] [ 0.00864061 0.99973281 0.02143923 -0.20951483] [ 0.01286774 -0.02154941 0.99968497 -1.47479101] [ 0. 0. 0. 1. ]] SLAMing on 118.20719346999999 meters Centerline goodness [0,1] 0.9217151517703027 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.22, Z:-1.47 [[ 0.99978816 -0.01641183 -0.01242095 4.7409992 ] [ 0.01661134 0.99973185 0.01613346 -0.22440963] [ 0.01215284 -0.01633637 0.99979269 -1.47460893] [ 0. 0. 0. 1. ]] SLAMing on 118.23719347 meters Centerline goodness [0,1] 0.921034960339111 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.23, Z:-1.47 [[ 0.99973123 -0.0193827 -0.01271946 4.74205412] [ 0.01956636 0.99970375 0.01447682 -0.23109694] [ 0.0124351 -0.0147218 0.9998143 -1.47477847] [ 0. 0. 0. 1. ]] SLAMing on 118.26719347 meters Centerline goodness [0,1] 0.9196137446701781 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.24, Z:-1.48 [[ 0.99967347 -0.02197976 -0.01303275 4.74342924] [ 0.02215045 0.99966881 0.01310055 -0.23735541] [ 0.01274049 -0.01338495 0.99982925 -1.47533335] [ 0. 0. 0. 1. ]] SLAMing on 118.29719347 meters Centerline goodness [0,1] 0.9183626513836307 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.24, Z:-1.48 [[ 0.99961063 -0.02456696 -0.01323079 4.74442998] [ 0.02472029 0.99962766 0.01155241 -0.24309248] [ 0.01294206 -0.01187498 0.99984573 -1.47570054] [ 0. 0. 0. 1. ]] SLAMing on 118.32719347 meters Centerline goodness [0,1] 0.9180809331011769 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.25, Z:-1.48 [[ 0.99953974 -0.02729512 -0.01323984 4.74479461] [ 0.02742783 0.99957429 0.00994719 -0.24907081] [ 0.01296269 -0.01030575 0.99986287 -1.4756933 ] [ 0. 0. 0. 1. ]] SLAMing on 118.35719347 meters Centerline goodness [0,1] 0.9155883776220833 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.26, Z:-1.48 [[ 0.99937701 -0.03283612 -0.01293746 4.74492071] [ 0.03292269 0.99943653 0.00653653 -0.25974908] [ 0.01271554 -0.0069584 0.99989494 -1.47560158] [ 0. 0. 0. 1. ]] SLAMing on 118.38719347 meters Centerline goodness [0,1] 0.9146633102580239 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.26, Z:-1.48 [[ 9.99263269e-01 -3.60820161e-02 -1.30769411e-02 4.74569516e+00] [ 3.61392459e-02 9.99338077e-01 4.16675249e-03 -2.63891582e-01] [ 1.29179404e-02 -4.63627351e-03 9.99905811e-01 -1.47577041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41719347 meters Centerline goodness [0,1] 0.915144286102915 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-1.48 [[ 9.99016727e-01 -4.23865642e-02 -1.29983640e-02 4.74688193e+00] [ 4.23887354e-02 9.99101188e-01 -1.08548674e-04 -2.72970725e-01] [ 1.29912819e-02 -4.42542270e-04 9.99915512e-01 -1.47635441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44719347 meters Centerline goodness [0,1] 0.9141106868627533 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-1.48 [[ 9.98879235e-01 -4.54426074e-02 -1.32379601e-02 4.74900060e+00] [ 4.54179532e-02 9.98965743e-01 -2.15726048e-03 -2.77121030e-01] [ 1.33223002e-02 1.55360164e-03 9.99910047e-01 -1.47793813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47719347 meters Centerline goodness [0,1] 0.9125070931674408 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-1.48 [[ 9.98737970e-01 -4.83214391e-02 -1.36932571e-02 4.75171363e+00] [ 4.82705061e-02 9.98826185e-01 -4.02617185e-03 -2.81357643e-01] [ 1.38717342e-02 3.36011025e-03 9.99898137e-01 -1.47982844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50719347 meters Centerline goodness [0,1] 0.9108303021383066 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.29, Z:-1.48 [[ 0.99858299 -0.05132819 -0.01405094 4.75421598] [ 0.05124758 0.99866772 -0.00603858 -0.28535858] [ 0.01434217 0.00530994 0.99988305 -1.48159514] [ 0. 0. 0. 1. ]] SLAMing on 118.53719347 meters Centerline goodness [0,1] 0.8990696599953798 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-1.48 [[ 0.99816267 -0.05894463 -0.01402889 4.75611466] [ 0.05878327 0.99820279 -0.01164969 -0.29217807] [ 0.01469037 0.01080362 0.99983372 -1.48274538] [ 0. 0. 0. 1. ]] SLAMing on 118.56719347 meters Centerline goodness [0,1] 0.8812469903481774 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-1.48 [[ 0.99792809 -0.06280474 -0.01396782 4.75674927] [ 0.06259936 0.99793069 -0.01468498 -0.29526526] [ 0.0148612 0.01378018 0.9997946 -1.48294525] [ 0. 0. 0. 1. ]] SLAMing on 118.59719347 meters Centerline goodness [0,1] 0.862562798357341 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-1.48 [[ 0.99787776 -0.06356365 -0.01412935 4.75773938] [ 0.0633644 0.99789043 -0.01412935 -0.29955084] [ 0.01499766 0.01320406 0.99980034 -1.48348574] [ 0. 0. 0. 1. ]] SLAMing on 118.62719347 meters Centerline goodness [0,1] 0.8454742006569373 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-1.48 [[ 0.99786083 -0.06380182 -0.0142512 4.75832371] [ 0.06361262 0.99788528 -0.01335693 -0.3028278 ] [ 0.01507326 0.0124218 0.99980923 -1.48368196] [ 0. 0. 0. 1. ]] SLAMing on 118.65719347 meters Centerline goodness [0,1] 0.8374141161773891 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-1.48 [[ 0.99794437 -0.06255335 -0.01393253 4.75604119] [ 0.06239042 0.99798162 -0.01183737 -0.3034569 ] [ 0.01464487 0.01094378 0.99983287 -1.4815069 ] [ 0. 0. 0. 1. ]] SLAMing on 118.68719347 meters Centerline goodness [0,1] 0.8531264339048096 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-1.48 [[ 0.99818543 -0.05854631 -0.01407776 4.75527709] [ 0.05844059 0.99826036 -0.00780771 -0.3030572 ] [ 0.01451038 0.00697083 0.99987042 -1.48058196] [ 0. 0. 0. 1. ]] SLAMing on 118.71719347 meters Centerline goodness [0,1] 0.8819953625368177 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-1.48 [[ 9.98417570e-01 -5.43841243e-02 -1.43081575e-02 4.75466137e+00] [ 5.43335197e-02 9.98515218e-01 -3.90232106e-03 -3.02091460e-01] [ 1.44991373e-02 3.11873335e-03 9.99890018e-01 -1.47965548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74719347 meters Centerline goodness [0,1] 0.9071996308957071 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-1.48 [[ 9.98780802e-01 -4.72867097e-02 -1.41730737e-02 4.75251348e+00] [ 4.73223637e-02 9.98877267e-01 2.19070772e-03 -2.98400731e-01] [ 1.40535698e-02 -2.85874017e-03 9.99897157e-01 -1.47806868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77719347 meters Centerline goodness [0,1] 0.9049601472772536 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-1.48 [[ 0.99893759 -0.04376519 -0.01443256 4.75290259] [ 0.04384703 0.99902364 0.00540323 -0.29659636] [ 0.01418199 -0.00603031 0.99988125 -1.47837857] [ 0. 0. 0. 1. ]] SLAMing on 118.80719347 meters Centerline goodness [0,1] 0.906438610780444 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.29, Z:-1.48 [[ 0.99894746 -0.04352839 -0.01446573 4.75317232] [ 0.04360197 0.9990374 0.00481075 -0.29324157] [ 0.0142424 -0.00543642 0.99988379 -1.47868898] [ 0. 0. 0. 1. ]] SLAMing on 118.83719347 meters Centerline goodness [0,1] 0.90684558129783 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.29, Z:-1.48 [[ 0.99900842 -0.04221975 -0.01413055 4.75177581] [ 0.04230216 0.99908925 0.00558465 -0.29095779] [ 0.0138819 -0.00617687 0.99988456 -1.47792807] [ 0. 0. 0. 1. ]] SLAMing on 118.86719347 meters Centerline goodness [0,1] 0.9079748185639889 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.29, Z:-1.48 [[ 0.99909812 -0.03989535 -0.01453632 4.75370866] [ 0.03999888 0.99917588 0.0069029 -0.28620011] [ 0.01424895 -0.00747811 0.99987051 -1.47966361] [ 0. 0. 0. 1. ]] SLAMing on 118.89719347 meters Centerline goodness [0,1] 0.9073788270626512 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.28, Z:-1.48 [[ 0.99909593 -0.03988151 -0.01472339 4.75450545] [ 0.03997768 0.99918074 0.00629614 -0.28375904] [ 0.01446023 -0.00687905 0.99987178 -1.4802961 ] [ 0. 0. 0. 1. ]] SLAMing on 118.92719347 meters Centerline goodness [0,1] 0.906711675105749 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-1.48 [[ 0.99913577 -0.03867672 -0.01522575 4.75681016] [ 0.0387879 0.99922241 0.00707601 -0.28152884] [ 0.01494024 -0.00766047 0.99985904 -1.48207249] [ 0. 0. 0. 1. ]] SLAMing on 118.95719346999999 meters Centerline goodness [0,1] 0.9069093657491969 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.28, Z:-1.48 [[ 0.99913231 -0.03874562 -0.01527763 4.75727009] [ 0.03884582 0.99922524 0.00631774 -0.27829865] [ 0.015021 -0.00690573 0.99986333 -1.48262147] [ 0. 0. 0. 1. ]] SLAMing on 118.98719347 meters Centerline goodness [0,1] 0.9051388365372535 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.27, Z:-1.48 [[ 0.99917382 -0.03728689 -0.01616672 4.7605031 ] [ 0.03740906 0.99927321 0.00732185 -0.27372814] [ 0.01588196 -0.00792058 0.9998425 -1.48498469] [ 0. 0. 0. 1. ]] SLAMing on 119.01719347 meters Centerline goodness [0,1] 0.9035644684729993 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.27, Z:-1.49 [[ 0.99915605 -0.03764184 -0.01644048 4.76161314] [ 0.03775845 0.99926348 0.00684112 -0.27249218] [ 0.01617086 -0.00745612 0.99984144 -1.48581939] [ 0. 0. 0. 1. ]] SLAMing on 119.04719347 meters Centerline goodness [0,1] 0.9035644684729993 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.27, Z:-1.49 [[ 0.99915605 -0.03764184 -0.01644048 4.76161314] [ 0.03775845 0.99926348 0.00684112 -0.27249218] [ 0.01617086 -0.00745612 0.99984144 -1.48581939] [ 0. 0. 0. 1. ]] SLAMing on 119.07719347 meters Centerline goodness [0,1] 0.9012044168910598 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.27, Z:-1.49 [[ 0.99910876 -0.03864859 -0.01696992 4.76396605] [ 0.038752 0.99923198 0.00580764 -0.27141729] [ 0.01673243 -0.00646008 0.99983913 -1.48748095] [ 0. 0. 0. 1. ]] SLAMing on 119.10719347 meters Centerline goodness [0,1] 0.8930762305550322 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 0.99905271 -0.0399461 -0.01726243 4.76511118] [ 0.04003664 0.99918604 0.00493137 -0.27159789] [ 0.01705139 -0.00561783 0.99983883 -1.48821523] [ 0. 0. 0. 1. ]] SLAMing on 119.13719347 meters Centerline goodness [0,1] 0.8873838928144592 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 0.99903086 -0.04036138 -0.01755872 4.76604731] [ 0.04045163 0.99916989 0.0048155 -0.27185928] [ 0.01734978 -0.00552112 0.99983424 -1.48870673] [ 0. 0. 0. 1. ]] SLAMing on 119.16719347 meters Centerline goodness [0,1] 0.8759309909530822 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 9.99013301e-01 -4.07263005e-02 -1.77142222e-02 4.76692200e+00] [ 4.08133066e-02 9.99156302e-01 4.57803613e-03 -2.71378680e-01] [ 1.75128303e-02 -5.29649496e-03 9.99832610e-01 -1.48949189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19719347 meters Centerline goodness [0,1] 0.8605801475519785 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 0.99902754 -0.04006512 -0.01840555 4.77004316] [ 0.04016617 0.99917972 0.00515373 -0.26927081] [ 0.01818397 -0.00588799 0.99981732 -1.49181769] [ 0. 0. 0. 1. ]] SLAMing on 119.22719347 meters Centerline goodness [0,1] 0.8606403797310238 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 0.9990181 -0.04018202 -0.01866137 4.77087024] [ 0.04027859 0.99917683 0.00482781 -0.26802468] [ 0.01845202 -0.00557472 0.99981421 -1.49224354] [ 0. 0. 0. 1. ]] SLAMing on 119.25719347 meters Centerline goodness [0,1] 0.8625666771258237 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 9.99007929e-01 -4.03365927e-02 -1.88710624e-02 4.77141779e+00] [ 4.04297697e-02 9.99171876e-01 4.58222858e-03 -2.67358295e-01] [ 1.86706033e-02 -5.34063539e-03 9.99811425e-01 -1.49244982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28719347 meters Centerline goodness [0,1] 0.8564955944377166 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 9.98993136e-01 -4.05222373e-02 -1.92525906e-02 4.77253921e+00] [ 4.06149065e-02 9.99164979e-01 4.44680401e-03 -2.67312683e-01] [ 1.90563198e-02 -5.22426885e-03 9.99804763e-01 -1.49296568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31719347 meters Centerline goodness [0,1] 0.8461393043186018 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 9.98961433e-01 -4.11975587e-02 -1.94632044e-02 4.77312812e+00] [ 4.12813152e-02 9.99139869e-01 3.92116471e-03 -2.66958419e-01] [ 1.92849211e-02 -4.72055899e-03 9.99802885e-01 -1.49323627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34719347 meters Centerline goodness [0,1] 0.8428887717448603 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 9.98942567e-01 -4.16185189e-02 -1.95357650e-02 4.77328386e+00] [ 4.16956898e-02 9.99124016e-01 3.55950537e-03 -2.66127648e-01] [ 1.93705106e-02 -4.37029863e-03 9.99802822e-01 -1.49322342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37719347 meters Centerline goodness [0,1] 0.8337927986700057 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.27, Z:-1.49 [[ 9.98925388e-01 -4.19902582e-02 -1.96185319e-02 4.77300140e+00] [ 4.20637236e-02 9.99109324e-01 3.34698837e-03 -2.65475383e-01] [ 1.94605172e-02 -4.16862016e-03 9.99801936e-01 -1.49252292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40719347 meters Centerline goodness [0,1] 0.8090154705808765 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-1.49 [[ 9.99085022e-01 -4.16345939e-02 -9.78159092e-03 4.78039875e+00] [ 4.16352976e-02 9.99132866e-01 -1.31770119e-04 -2.63868783e-01] [ 9.77859517e-03 -2.75609897e-04 9.99952150e-01 -1.49407033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43719347 meters Centerline goodness [0,1] 0.8060775102759836 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-1.49 [[ 9.99108979e-01 -4.11827974e-02 -9.23171442e-03 4.77702398e+00] [ 4.11873845e-02 9.99151392e-01 3.07239935e-04 -2.61802462e-01] [ 9.21122731e-03 -6.87196349e-04 9.99957340e-01 -1.49104832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46719347 meters Centerline goodness [0,1] 0.8125966481380866 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-1.49 [[ 9.99195702e-01 -3.88470052e-02 -9.94284052e-03 4.77887001e+00] [ 3.88762221e-02 9.99240216e-01 2.76220230e-03 -2.60576331e-01] [ 9.82798283e-03 -3.14652074e-03 9.99946754e-01 -1.49193558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49719347 meters Centerline goodness [0,1] 0.811951194076546 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-1.49 [[ 0.99928457 -0.03635112 -0.01043777 4.78049335] [ 0.03640592 0.99932402 0.00510912 -0.25901327] [ 0.01024499 -0.00548546 0.99993247 -1.49302755] [ 0. 0. 0. 1. ]] SLAMing on 119.52719347 meters Centerline goodness [0,1] 0.8264178482068391 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.25, Z:-1.49 [[ 0.99938099 -0.03343775 -0.01093431 4.78247978] [ 0.03351285 0.99941544 0.00675843 -0.25373812] [ 0.01070193 -0.00712069 0.99991738 -1.49468081] [ 0. 0. 0. 1. ]] SLAMing on 119.55719347 meters Centerline goodness [0,1] 0.831835794324013 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.25, Z:-1.50 [[ 0.99947846 -0.03025674 -0.01128483 4.78345105] [ 0.03036511 0.99949317 0.00955854 -0.25122032] [ 0.0109899 -0.00989622 0.99989064 -1.49545863] [ 0. 0. 0. 1. ]] SLAMing on 119.58719347 meters Centerline goodness [0,1] 0.8353879319366249 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.25, Z:-1.50 [[ 0.9995093 -0.0289759 -0.01189779 4.78588585] [ 0.02909882 0.99952355 0.01029207 -0.24730076] [ 0.0115939 -0.01063323 0.99987625 -1.49723677] [ 0. 0. 0. 1. ]] SLAMing on 119.61719347 meters Centerline goodness [0,1] 0.8322713171795086 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.24, Z:-1.50 [[ 0.99949979 -0.02921708 -0.01210463 4.78661577] [ 0.02933055 0.99952646 0.00930474 -0.24377984] [ 0.01182704 -0.00965512 0.99988344 -1.49770546] [ 0. 0. 0. 1. ]] SLAMing on 119.64719347 meters Centerline goodness [0,1] 0.8275201952204645 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.24, Z:-1.50 [[ 0.99946601 -0.0302448 -0.01236738 4.7883263 ] [ 0.03033878 0.99951165 0.00748408 -0.23947487] [ 0.01213498 -0.0078553 0.99989551 -1.49933968] [ 0. 0. 0. 1. ]] SLAMing on 119.67719347 meters Centerline goodness [0,1] 0.817389661109478 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.24, Z:-1.50 [[ 0.99944625 -0.03077437 -0.01265441 4.7893149 ] [ 0.03086293 0.99950006 0.00686363 -0.23797217] [ 0.01243686 -0.00725038 0.99989637 -1.4999995 ] [ 0. 0. 0. 1. ]] SLAMing on 119.70719346999999 meters Centerline goodness [0,1] 0.8364377547820634 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.24, Z:-1.50 [[ 0.99942272 -0.03142178 -0.01291855 4.79018374] [ 0.03150488 0.99948387 0.00628018 -0.23672803] [ 0.01271455 -0.00668356 0.99989683 -1.50052095] [ 0. 0. 0. 1. ]] SLAMing on 119.73719347 meters Centerline goodness [0,1] 0.8253249475890985 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.24, Z:-1.50 [[ 0.9993987 -0.03212253 -0.01305339 4.79053406] [ 0.03219832 0.9994656 0.00563765 -0.23545948] [ 0.01286532 -0.00605455 0.99989891 -1.50065652] [ 0. 0. 0. 1. ]] SLAMing on 119.76719347 meters Centerline goodness [0,1] 0.8226939940002937 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.23, Z:-1.50 [[ 0.99937375 -0.03282583 -0.01321287 4.79090305] [ 0.03289531 0.99944592 0.00507552 -0.23438938] [ 0.01303894 -0.00550698 0.99989982 -1.50074844] [ 0. 0. 0. 1. ]] SLAMing on 119.79719347 meters Centerline goodness [0,1] 0.8062988496112985 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.23, Z:-1.50 [[ 9.99332435e-01 -3.39536200e-02 -1.34846394e-02 4.79159726e+00] [ 3.40067174e-02 9.99414651e-01 3.72797826e-03 -2.30701305e-01] [ 1.33501678e-02 -4.18405792e-03 9.99902129e-01 -1.50098404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82719347 meters Centerline goodness [0,1] 0.8132994476066455 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.23, Z:-1.50 [[ 9.99323659e-01 -3.41658056e-02 -1.35986438e-02 4.79168966e+00] [ 3.42104144e-02 9.99409964e-01 3.06132834e-03 -2.28623388e-01] [ 1.34860273e-02 -3.52447308e-03 9.99902848e-01 -1.50076427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85719347 meters Centerline goodness [0,1] 0.8169334000166708 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.23, Z:-1.50 [[ 9.99316395e-01 -3.42347442e-02 -1.39543757e-02 4.79227243e+00] [ 3.42718845e-02 9.99409590e-01 2.43109377e-03 -2.26879504e-01] [ 1.38629091e-02 -2.90767462e-03 9.99899678e-01 -1.50058501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88719347 meters Centerline goodness [0,1] 0.8227579315513365 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.23, Z:-1.50 [[ 9.99324494e-01 -3.38552718e-02 -1.42960218e-02 4.79271843e+00] [ 3.38888167e-02 9.99423380e-01 2.11068538e-03 -2.25317874e-01] [ 1.42163206e-02 -2.59373487e-03 9.99895579e-01 -1.50023972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91719347 meters Centerline goodness [0,1] 0.8447712077978881 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.22, Z:-1.50 [[ 9.99464572e-01 -2.94108155e-02 -1.43378050e-02 4.79251227e+00] [ 2.94813841e-02 9.99554112e-01 4.73554972e-03 -2.19936232e-01] [ 1.41921356e-02 -5.15571251e-03 9.99885994e-01 -1.49975444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94719347 meters Centerline goodness [0,1] 0.8538009248603293 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.22, Z:-1.50 [[ 0.99957061 -0.02551098 -0.01441469 4.7925658 ] [ 0.02562536 0.99964113 0.00780699 -0.21606337] [ 0.01421035 -0.00817302 0.99986562 -1.49989717] [ 0. 0. 0. 1. ]] SLAMing on 119.97719347 meters Centerline goodness [0,1] 0.8648512882767859 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.21, Z:-1.50 [[ 0.99965338 -0.02190397 -0.01460606 4.79262754] [ 0.02205857 0.99970145 0.01050904 -0.2118328 ] [ 0.01437151 -0.01082758 0.9998381 -1.49970396] [ 0. 0. 0. 1. ]] SLAMing on 120.00719347 meters Centerline goodness [0,1] 0.8931459659293801 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.21, Z:-1.50 [[ 0.99978882 -0.01485198 -0.01420346 4.79062131] [ 0.01507847 0.99975871 0.01597389 -0.20557727] [ 0.01396278 -0.01618468 0.99977152 -1.49817781] [ 0. 0. 0. 1. ]] SLAMing on 120.03719347 meters Centerline goodness [0,1] 0.8962603530494436 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.20, Z:-1.50 [[ 0.99978911 -0.01459112 -0.01445114 4.79125771] [ 0.01481079 0.99977459 0.01521183 -0.20277771] [ 0.01422592 -0.01542266 0.99977986 -1.49831628] [ 0. 0. 0. 1. ]] SLAMing on 120.06719347 meters Centerline goodness [0,1] 0.9017621145374449 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.20, Z:-1.50 [[ 0.99978614 -0.0147833 -0.01446138 4.79117897] [ 0.01498995 0.99978556 0.01428735 -0.20055134] [ 0.01424707 -0.01450107 0.99979335 -1.49810566] [ 0. 0. 0. 1. ]] SLAMing on 120.09719347 meters Centerline goodness [0,1] 0.9067526809651475 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.20, Z:-1.50 [[ 0.99977866 -0.01505375 -0.01469747 4.79189775] [ 0.0152515 0.9997934 0.01343659 -0.19836999] [ 0.01449216 -0.01365777 0.9998017 -1.49845893] [ 0. 0. 0. 1. ]] SLAMing on 120.12719347 meters Centerline goodness [0,1] 0.9098062317224548 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.19, Z:-1.50 [[ 0.9998139 -0.01215858 -0.01497804 4.79308524] [ 0.01238894 0.9998049 0.01538424 -0.19375245] [ 0.01478806 -0.01556694 0.99976947 -1.49937303] [ 0. 0. 0. 1. ]] SLAMing on 120.15719347 meters Centerline goodness [0,1] 0.9128057372394793 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.19, Z:-1.50 [[ 0.99984737 -0.00832062 -0.01536229 4.79414813] [ 0.0086083 0.99978703 0.01875595 -0.19158913] [ 0.01520296 -0.01888533 0.99970606 -1.49994108] [ 0. 0. 0. 1. ]] SLAMing on 120.18719347 meters Centerline goodness [0,1] 0.9135486039622681 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.18, Z:-1.50 [[ 9.99885056e-01 2.05030753e-03 -1.50223230e-02 4.79690951e+00] [-1.88799998e-03 9.99939781e-01 1.08106510e-02 -1.83590078e-01] [ 1.50435836e-02 -1.07810463e-02 9.99828715e-01 -1.50177121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21719347 meters Centerline goodness [0,1] 0.9133217957004942 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.18, Z:-1.50 [[ 0.99985947 0.00583585 -0.01571573 4.80079465] [-0.0056159 0.99988618 0.01400343 -0.18240446] [ 0.01579566 -0.0139132 0.99977844 -1.50480149] [ 0. 0. 0. 1. ]] SLAMing on 120.24719347 meters Centerline goodness [0,1] 0.9150321359485825 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.18, Z:-1.51 [[ 0.9998337 0.00778474 -0.01649144 4.80441852] [-0.00753179 0.99985389 0.01534503 -0.18214808] [ 0.01660848 -0.01521827 0.99974625 -1.50738753] [ 0. 0. 0. 1. ]] SLAMing on 120.27719347 meters Centerline goodness [0,1] 0.9195443143812709 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.51 [[ 0.99981286 0.00904204 -0.01710202 4.80715061] [-0.00876383 0.99982917 0.01627328 -0.1825461 ] [ 0.01724624 -0.01612036 0.99972131 -1.50934219] [ 0. 0. 0. 1. ]] SLAMing on 120.30719347 meters Centerline goodness [0,1] 0.9185567010309278 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.51 [[ 0.99980168 0.00961177 -0.01744186 4.80833458] [-0.0093126 0.9998095 0.01715333 -0.18469929] [ 0.01760341 -0.0169875 0.99970073 -1.51004701] [ 0. 0. 0. 1. ]] SLAMing on 120.33719347 meters Centerline goodness [0,1] 0.9213325516143892 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.19, Z:-1.51 [[ 0.999823 0.00597387 -0.01784051 4.80895277] [-0.00573021 0.99989003 0.01367792 -0.18578124] [ 0.01792026 -0.01357327 0.99974728 -1.50989303] [ 0. 0. 0. 1. ]] SLAMing on 120.36719347 meters Centerline goodness [0,1] 0.9187770551454443 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.19, Z:-1.51 [[ 9.99835228e-01 2.06404132e-03 -1.80348469e-02 4.80938282e+00] [-1.87726021e-03 9.99944494e-01 1.03674770e-02 -1.88387200e-01] [ 1.80552448e-02 -1.03319126e-02 9.99783606e-01 -1.50992623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39719347 meters Centerline goodness [0,1] 0.9207885529926885 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.20, Z:-1.51 [[ 0.99982388 -0.00516507 -0.01804266 4.80888729] [ 0.00525632 0.99997362 0.00501361 -0.19601904] [ 0.01801629 -0.00510756 0.99982465 -1.50914032] [ 0. 0. 0. 1. ]] SLAMing on 120.42719347 meters Centerline goodness [0,1] 0.9193545006811276 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.20, Z:-1.51 [[ 9.99795210e-01 -8.96733054e-03 -1.81418076e-02 4.80899132e+00] [ 9.00882490e-03 9.99956985e-01 2.20679089e-03 -1.99570513e-01] [ 1.81212382e-02 -2.36977533e-03 9.99832988e-01 -1.50894362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45719346999999 meters Centerline goodness [0,1] 0.9169633507853403 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.20, Z:-1.51 [[ 9.99749798e-01 -1.27872040e-02 -1.83529151e-02 4.80935963e+00] [ 1.27774439e-02 9.99918155e-01 -6.48970245e-04 -2.02810580e-01] [ 1.83597115e-02 4.14304529e-04 9.99831360e-01 -1.50867450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48719347 meters Centerline goodness [0,1] 0.9137539909258948 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.21, Z:-1.51 [[ 9.99692661e-01 -1.66814648e-02 -1.83388312e-02 4.80897591e+00] [ 1.66163743e-02 9.99855107e-01 -3.69599961e-03 -2.05701805e-01] [ 1.83978287e-02 3.39013880e-03 9.99824998e-01 -1.50796165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51719347 meters Centerline goodness [0,1] 0.8951458757797895 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.21, Z:-1.51 [[ 0.99955213 -0.02414598 -0.0176779 4.80613439] [ 0.02398226 0.99966805 -0.00941537 -0.2125705 ] [ 0.01789937 0.0089872 0.9997994 -1.50529763] [ 0. 0. 0. 1. ]] SLAMing on 120.54719347 meters Centerline goodness [0,1] 0.8864118227428259 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 0.99954453 -0.02440358 -0.017754 4.80605834] [ 0.02425721 0.99967035 -0.00841303 -0.21737198] [ 0.01795346 0.00797854 0.99980699 -1.50506933] [ 0. 0. 0. 1. ]] SLAMing on 120.57719347 meters Centerline goodness [0,1] 0.8858542098323602 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 0.99954061 -0.02440147 -0.01797626 4.806581 ] [ 0.02427094 0.9996777 -0.00744421 -0.22079129] [ 0.01815212 0.00700449 0.9998107 -1.50527329] [ 0. 0. 0. 1. ]] SLAMing on 120.60719347 meters Centerline goodness [0,1] 0.8846113478452529 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 0.99953432 -0.0244434 -0.0182664 4.80748793] [ 0.02431997 0.99968007 -0.00694905 -0.22241422] [ 0.01843041 0.00650158 0.99980901 -1.50579867] [ 0. 0. 0. 1. ]] SLAMing on 120.63719347 meters Centerline goodness [0,1] 0.8703106682297772 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 0.999522 -0.02457773 -0.01875397 4.80926075] [ 0.024458 0.99967916 -0.00658705 -0.22315825] [ 0.01890985 0.00612521 0.99980243 -1.50698529] [ 0. 0. 0. 1. ]] SLAMing on 120.66719347 meters Centerline goodness [0,1] 0.8771476037263685 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 9.99601081e-01 -2.09981389e-02 -1.88880157e-02 4.80944786e+00] [ 2.09557600e-02 9.99777429e-01 -2.43884637e-03 -2.24391663e-01] [ 1.89350231e-02 2.04206074e-03 9.99818631e-01 -1.50718735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69719347 meters Centerline goodness [0,1] 0.8800025249337204 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-1.51 [[ 9.99658990e-01 -1.76813492e-02 -1.92164870e-02 4.81039194e+00] [ 1.77111417e-02 9.99842191e-01 1.38126465e-03 -2.25725082e-01] [ 1.91890318e-02 -1.72113955e-03 9.99814392e-01 -1.50784639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72719347 meters Centerline goodness [0,1] 0.876922103398089 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-1.51 [[ 9.99657741e-01 -1.74784595e-02 -1.94654424e-02 4.81112707e+00] [ 1.75119271e-02 9.99845453e-01 1.55019699e-03 -2.26054176e-01] [ 1.94353390e-02 -1.89054383e-03 9.99809329e-01 -1.50819831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75719347 meters Centerline goodness [0,1] 0.8749266124297577 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-1.51 [[ 9.99653403e-01 -1.73318071e-02 -1.98162169e-02 4.81219480e+00] [ 1.73657476e-02 9.99848015e-01 1.54195323e-03 -2.26811598e-01] [ 1.97864803e-02 -1.88554222e-03 9.99802450e-01 -1.50873966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78719347 meters Centerline goodness [0,1] 0.887739189075276 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.23, Z:-1.51 [[ 9.99695063e-01 -1.51800827e-02 -1.94767867e-02 4.81030530e+00] [ 1.52505017e-02 9.99877676e-01 3.47210692e-03 -2.26674494e-01] [ 1.94216974e-02 -3.76807892e-03 9.99804280e-01 -1.50726323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81719347 meters Centerline goodness [0,1] 0.8931559977235841 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 9.99703587e-01 -1.46695644e-02 -1.94304235e-02 4.81000484e+00] [ 1.47332390e-02 9.99886536e-01 3.13796168e-03 -2.23987269e-01] [ 1.93821863e-02 -3.42330463e-03 9.99806287e-01 -1.50680332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84719347 meters Centerline goodness [0,1] 0.9082615199848296 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 0.99978528 -0.0064143 -0.01970426 4.80999039] [ 0.0066198 0.99992419 0.01038207 -0.22034227] [ 0.01963617 -0.01051028 0.99975195 -1.50616547] [ 0. 0. 0. 1. ]] SLAMing on 120.87719347 meters Centerline goodness [0,1] 0.91270895254959 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 9.99796232e-01 -1.90842790e-03 -2.00961009e-02 4.81094002e+00] [ 2.19301349e-03 9.99897497e-01 1.41487321e-02 -2.18494800e-01] [ 2.00670391e-02 -1.41899201e-02 9.99697934e-01 -1.50644973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90719347 meters Centerline goodness [0,1] 0.9170284510010538 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 9.99783934e-01 2.87912907e-03 -2.05863263e-02 4.81241318e+00] [-2.50436805e-03 9.99831102e-01 1.82070299e-02 -2.17325458e-01] [ 2.06352697e-02 -1.81515402e-02 9.99622282e-01 -1.50717227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93719347 meters Centerline goodness [0,1] 0.9170284510010538 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 9.99783934e-01 2.87912907e-03 -2.05863263e-02 4.81241318e+00] [-2.50436805e-03 9.99831102e-01 1.82070299e-02 -2.17325458e-01] [ 2.06352697e-02 -1.81515402e-02 9.99622282e-01 -1.50717227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96719347 meters Centerline goodness [0,1] 0.9201901636585469 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.22, Z:-1.51 [[ 0.99975468 0.00683533 -0.02106811 4.81475747] [-0.00638235 0.99974861 0.02149387 -0.21657478] [ 0.02120973 -0.02135413 0.99954697 -1.50885191] [ 0. 0. 0. 1. ]] SLAMing on 120.99719347 meters Centerline goodness [0,1] 0.9211678524817918 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.22, Z:-1.51 [[ 0.99968535 0.01674069 -0.01867996 4.81615359] [-0.01652711 0.99979694 0.01152974 -0.21525153] [ 0.01886918 -0.01121739 0.99975903 -1.51042023] [ 0. 0. 0. 1. ]] SLAMing on 121.02719347 meters Centerline goodness [0,1] 0.9249584621532378 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.21, Z:-1.51 [[ 0.99967229 0.01745235 -0.01872748 4.81617934] [-0.01723702 0.99978416 0.01159852 -0.21441146] [ 0.01892586 -0.01127192 0.99975735 -1.51017948] [ 0. 0. 0. 1. ]] SLAMing on 121.05719347 meters Centerline goodness [0,1] 0.9254989099446588 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.21, Z:-1.51 [[ 0.99965317 0.01830067 -0.01893754 4.81649788] [-0.01807363 0.99976354 0.01209142 -0.213982 ] [ 0.01915434 -0.01174495 0.99974755 -1.50990924] [ 0. 0. 0. 1. ]] SLAMing on 121.08719347 meters Centerline goodness [0,1] 0.9226580894719139 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.21, Z:-1.51 [[ 0.99964807 0.01849715 -0.01901578 4.81609818] [-0.01826427 0.99975693 0.01234874 -0.21422697] [ 0.01923958 -0.01199708 0.99974292 -1.50910145] [ 0. 0. 0. 1. ]] SLAMing on 121.11719347 meters Centerline goodness [0,1] 0.9208546936717371 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.22, Z:-1.51 [[ 0.99983482 0.01363508 -0.01201778 4.82601039] [-0.01344052 0.99977965 0.01612434 -0.22129767] [ 0.01223499 -0.01596015 0.99979777 -1.51125956] [ 0. 0. 0. 1. ]] SLAMing on 121.14719347 meters Centerline goodness [0,1] 0.917647552506242 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.22, Z:-1.51 [[ 0.99990186 0.00671495 -0.01229576 4.82679943] [-0.00659943 0.99993393 0.00941175 -0.22433302] [ 0.01235815 -0.00932968 0.99988011 -1.51160652] [ 0. 0. 0. 1. ]] SLAMing on 121.17719347 meters Centerline goodness [0,1] 0.9166263641524907 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.23, Z:-1.51 [[ 9.99921396e-01 3.40304075e-04 -1.25333894e-02 4.82805711e+00] [-2.94193886e-04 9.99993183e-01 3.68064792e-03 -2.29095858e-01] [ 1.25345565e-02 -3.67667136e-03 9.99914680e-01 -1.51256476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20719346999999 meters Centerline goodness [0,1] 0.9144114872654858 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.24, Z:-1.51 [[ 9.99895358e-01 -5.89645779e-03 -1.32100630e-02 4.83076569e+00] [ 5.90151203e-03 9.99982527e-01 3.43655981e-04 -2.40708200e-01] [ 1.32078058e-02 -4.21579366e-04 9.99912684e-01 -1.51488712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23719347 meters Centerline goodness [0,1] 0.9120360662612708 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.25, Z:-1.52 [[ 9.99894809e-01 -5.57350968e-03 -1.33905349e-02 4.83165048e+00] [ 5.60106200e-03 9.99982272e-01 2.02097613e-03 -2.46197681e-01] [ 1.33790336e-02 -2.09576476e-03 9.99908300e-01 -1.51554017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26719347 meters Centerline goodness [0,1] 0.9118817271851573 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.25, Z:-1.52 [[ 9.99894572e-01 -4.86580415e-03 -1.36809971e-02 4.83292675e+00] [ 4.91612543e-03 9.99981265e-01 3.64696611e-03 -2.50846260e-01] [ 1.36629954e-02 -3.71383911e-03 9.99899760e-01 -1.51638264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29719347 meters Centerline goodness [0,1] 0.910965678331685 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.26, Z:-1.52 [[ 9.99895082e-01 -4.01582678e-03 -1.39175478e-02 4.83363931e+00] [ 4.08887121e-03 9.99977996e-01 5.22389470e-03 -2.55425782e-01] [ 1.38962633e-02 -5.28025368e-03 9.99889500e-01 -1.51667962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32719347 meters Centerline goodness [0,1] 0.914556366449886 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.26, Z:-1.52 [[ 9.99883026e-01 -2.76147201e-03 -1.50435741e-02 4.83765621e+00] [ 2.86330976e-03 9.99973104e-01 6.75219125e-03 -2.64129085e-01] [ 1.50245235e-02 -6.79447583e-03 9.99864040e-01 -1.51873323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35719347 meters Centerline goodness [0,1] 0.9129262590306886 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.27, Z:-1.52 [[ 9.99881923e-01 -2.08538565e-03 -1.52246803e-02 4.83828044e+00] [ 2.20700138e-03 9.99965759e-01 7.97563827e-03 -2.67830583e-01] [ 1.52075267e-02 -8.00829742e-03 9.99852288e-01 -1.51906314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38719347 meters Centerline goodness [0,1] 0.914339272926408 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.27, Z:-1.52 [[ 9.99878361e-01 -1.50016500e-03 -1.55246140e-02 4.83899952e+00] [ 1.64124294e-03 9.99957442e-01 9.07862502e-03 -2.70924747e-01] [ 1.55103339e-02 -9.10300036e-03 9.99838269e-01 -1.51920579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41719347 meters Centerline goodness [0,1] 0.9139200267692822 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.28, Z:-1.52 [[ 9.99864016e-01 -2.46595475e-03 -1.63054941e-02 4.84089445e+00] [ 2.60792141e-03 9.99958830e-01 8.69115325e-03 -2.76595697e-01] [ 1.62833908e-02 -8.73249484e-03 9.99829283e-01 -1.51952150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44719347 meters Centerline goodness [0,1] 0.9129176366954005 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.28, Z:-1.52 [[ 0.99984768 -0.00575761 -0.01647629 4.84113991] [ 0.00585465 0.99996577 0.00584726 -0.27923883] [ 0.01644206 -0.00594283 0.99984716 -1.51930874] [ 0. 0. 0. 1. ]] SLAMing on 121.47719347 meters Centerline goodness [0,1] 0.9118457300275482 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.28, Z:-1.52 [[ 9.99819569e-01 -9.14102514e-03 -1.66514455e-02 4.84157017e+00] [ 9.19513682e-03 9.99952680e-01 3.17600903e-03 -2.82484811e-01] [ 1.66216256e-02 -3.32854830e-03 9.99856311e-01 -1.51930626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50719347 meters Centerline goodness [0,1] 0.910572018716014 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.29, Z:-1.52 [[ 9.99778713e-01 -1.26012265e-02 -1.68444380e-02 4.84205420e+00] [ 1.26113608e-02 9.99920351e-01 4.95552885e-04 -2.85993878e-01] [ 1.68368518e-02 -7.07874511e-04 9.99858000e-01 -1.51927975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53719347 meters Centerline goodness [0,1] 0.9063772335084277 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.29, Z:-1.52 [[ 9.99665684e-01 -1.95174677e-02 -1.69584189e-02 4.84212607e+00] [ 1.94448413e-02 9.99801086e-01 -4.43701628e-03 -2.94668233e-01] [ 1.70416449e-02 4.10577915e-03 9.99846351e-01 -1.51862617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56719347 meters Centerline goodness [0,1] 0.9035023369872776 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-1.52 [[ 9.99675904e-01 -2.29718310e-02 -1.09718554e-02 4.85185829e+00] [ 2.29974713e-02 9.99733066e-01 2.21647893e-03 -3.01033940e-01] [ 1.09180101e-02 -2.46808551e-03 9.99937351e-01 -1.52110638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59719347 meters Centerline goodness [0,1] 0.9025547984219742 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-1.52 [[ 9.99588802e-01 -2.65188515e-02 -1.09076768e-02 4.85148640e+00] [ 2.65121623e-02 9.99648204e-01 -7.57428520e-04 -3.03731257e-01] [ 1.09239257e-02 4.67930969e-04 9.99940223e-01 -1.52040358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62719347 meters Centerline goodness [0,1] 0.9017877824338267 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.31, Z:-1.52 [[ 9.99588910e-01 -2.64680077e-02 -1.10206905e-02 4.85139051e+00] [ 2.64727214e-02 9.99649496e-01 2.82028207e-04 -3.07071879e-01] [ 1.10093630e-02 -5.73659937e-04 9.99939231e-01 -1.51977476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65719347 meters Centerline goodness [0,1] 0.8980601950335938 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.31, Z:-1.52 [[ 9.99595910e-01 -2.61923865e-02 -1.10442134e-02 4.85066059e+00] [ 2.62134288e-02 9.99654811e-01 1.76482262e-03 -3.11202651e-01] [ 1.09941761e-02 -2.05361617e-03 9.99937453e-01 -1.51849679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68719347 meters Centerline goodness [0,1] 0.8991265735291037 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.31, Z:-1.52 [[ 9.99603391e-01 -2.58431364e-02 -1.11889853e-02 4.85074321e+00] [ 2.58714435e-02 9.99662415e-01 2.39257384e-03 -3.12547682e-01] [ 1.11233764e-02 -2.68110012e-03 9.99934539e-01 -1.51814746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71719347 meters Centerline goodness [0,1] 0.8986843490158931 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.31, Z:-1.52 [[ 9.99615920e-01 -2.53361646e-02 -1.12290191e-02 4.85027860e+00] [ 2.53715442e-02 9.99673530e-01 3.01953107e-03 -3.13787534e-01] [ 1.11488498e-02 -3.30326888e-03 9.99932393e-01 -1.51732382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74719347 meters Centerline goodness [0,1] 0.9021663613970821 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.32, Z:-1.52 [[ 9.99636701e-01 -2.43322877e-02 -1.15933893e-02 4.85080842e+00] [ 2.43795024e-02 9.99694977e-01 3.94876957e-03 -3.15692971e-01] [ 1.14937705e-02 -4.22997605e-03 9.99924997e-01 -1.51710882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77719347 meters Centerline goodness [0,1] 0.9036142042225357 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.32, Z:-1.52 [[ 0.99966342 -0.02276387 -0.01244385 4.85368761] [ 0.02283246 0.99972473 0.0053984 -0.31654483] [ 0.01231753 -0.00568071 0.999908 -1.51879204] [ 0. 0. 0. 1. ]] SLAMing on 121.80719347 meters Centerline goodness [0,1] 0.9033296173989862 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.32, Z:-1.52 [[ 0.99968988 -0.02116613 -0.01312035 4.85653091] [ 0.02125701 0.99975074 0.00682619 -0.31669906] [ 0.01297259 -0.00710298 0.99989062 -1.5207806 ] [ 0. 0. 0. 1. ]] SLAMing on 121.83719347 meters Centerline goodness [0,1] 0.9059603204563567 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.32, Z:-1.52 [[ 0.99971716 -0.01929157 -0.01390834 4.85944342] [ 0.01940934 0.99977648 0.00838291 -0.31663016] [ 0.01374351 -0.00865049 0.99986813 -1.52265198] [ 0. 0. 0. 1. ]] SLAMing on 121.86719347 meters Centerline goodness [0,1] 0.9054915910669558 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.32, Z:-1.52 [[ 0.99979209 -0.01472913 -0.01410088 4.86033703] [ 0.01490924 0.9998075 0.01275434 -0.31709963] [ 0.01391031 -0.01296192 0.99981923 -1.52348227] [ 0. 0. 0. 1. ]] SLAMing on 121.89719347 meters Centerline goodness [0,1] 0.9050072553679207 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.32, Z:-1.52 [[ 0.99980448 -0.01335191 -0.014585 4.86202114] [ 0.01355289 0.99981335 0.01376876 -0.31745485] [ 0.01439844 -0.01396373 0.99979883 -1.5244856 ] [ 0. 0. 0. 1. ]] SLAMing on 121.92719347 meters Centerline goodness [0,1] 0.904403122901276 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.32, Z:-1.52 [[ 0.99981495 -0.0124623 -0.01465455 4.86234928] [ 0.01267119 0.99981819 0.01424892 -0.31742535] [ 0.01447431 -0.01443197 0.99979108 -1.52472517] [ 0. 0. 0. 1. ]] SLAMing on 121.95719346999999 meters Centerline goodness [0,1] 0.9021510355278667 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.32, Z:-1.53 [[ 0.99984099 -0.00938878 -0.01516036 4.86473541] [ 0.00964585 0.9998094 0.01697387 -0.31934059] [ 0.0149981 -0.01711741 0.99974099 -1.52645744] [ 0. 0. 0. 1. ]] SLAMing on 121.98719347 meters Centerline goodness [0,1] 0.9024569817829946 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.32, Z:-1.53 [[ 0.99984187 -0.00888431 -0.01540445 4.8655732 ] [ 0.00915482 0.99980355 0.01757982 -0.3207443 ] [ 0.01524524 -0.01771806 0.99972679 -1.52690268] [ 0. 0. 0. 1. ]] SLAMing on 122.01719347 meters Centerline goodness [0,1] 0.9026114888823995 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.32, Z:-1.53 [[ 0.99984295 -0.00835267 -0.01563066 4.86635599] [ 0.00864127 0.99979174 0.01848798 -0.32335421] [ 0.01547298 -0.01862015 0.9997069 -1.52727108] [ 0. 0. 0. 1. ]] SLAMing on 122.04719347 meters Centerline goodness [0,1] 0.9022734415924568 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.33, Z:-1.53 [[ 0.9998274 -0.01051086 -0.0153194 4.86567708] [ 0.0107598 0.99980991 0.01625954 -0.32541121] [ 0.01514559 -0.01642157 0.99975044 -1.52697009] [ 0. 0. 0. 1. ]] SLAMing on 122.07719347 meters Centerline goodness [0,1] 0.9017647551978538 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.33, Z:-1.53 [[ 0.9997907 -0.0129885 -0.01580655 4.86725029] [ 0.01322567 0.99980011 0.01499404 -0.33258341] [ 0.01560864 -0.01519996 0.99976264 -1.52743717] [ 0. 0. 0. 1. ]] SLAMing on 122.10719347 meters Centerline goodness [0,1] 0.9003129003129003 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.34, Z:-1.53 [[ 0.99974122 -0.01628102 -0.01588777 4.86772405] [ 0.01647762 0.99978829 0.01232301 -0.33604907] [ 0.01568377 -0.01258162 0.99979784 -1.52759541] [ 0. 0. 0. 1. ]] SLAMing on 122.13719347 meters Centerline goodness [0,1] 0.902308499475341 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.34, Z:-1.53 [[ 0.9996841 -0.01915396 -0.01627323 4.8694008 ] [ 0.0193239 0.9997597 0.01035055 -0.34064572] [ 0.01607106 -0.01066174 0.99981401 -1.52845784] [ 0. 0. 0. 1. ]] SLAMing on 122.16719347 meters Centerline goodness [0,1] 0.9064432014131303 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.35, Z:-1.53 [[ 0.99961038 -0.02259462 -0.01638815 4.870005 ] [ 0.02272648 0.99971047 0.00790505 -0.3452255 ] [ 0.0162048 -0.00827442 0.99983446 -1.52865919] [ 0. 0. 0. 1. ]] SLAMing on 122.19719347 meters Centerline goodness [0,1] 0.907361924554443 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.35, Z:-1.53 [[ 9.99424441e-01 -2.96362912e-02 -1.65068464e-02 4.87113347e+00] [ 2.96953210e-02 9.99553408e-01 3.34247375e-03 -3.54820820e-01] [ 1.64004160e-02 -3.83072607e-03 9.99858166e-01 -1.52895198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22719347 meters Centerline goodness [0,1] 0.9081547044758589 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.36, Z:-1.53 [[ 9.99299403e-01 -3.35110864e-02 -1.66646631e-02 4.87180157e+00] [ 3.35288263e-02 9.99437442e-01 7.86190734e-04 -3.59448927e-01] [ 1.66289421e-02 -1.34438652e-03 9.99860826e-01 -1.52895112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25719347 meters Centerline goodness [0,1] 0.9027499736592561 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-1.53 [[ 9.98989329e-01 -4.18392267e-02 -1.64255789e-02 4.87157030e+00] [ 4.17673451e-02 9.99116331e-01 -4.69527515e-03 -3.68340391e-01] [ 1.66075108e-02 4.00447695e-03 9.99854067e-01 -1.52779754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28719347 meters Centerline goodness [0,1] 0.8982022045650937 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-1.53 [[ 0.9988146 -0.04579041 -0.01651167 4.87224589] [ 0.0456673 0.99892658 -0.00775746 -0.37132867] [ 0.01684916 0.00699422 0.99983358 -1.52791945] [ 0. 0. 0. 1. ]] SLAMing on 122.31719347 meters Centerline goodness [0,1] 0.8870849327711703 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.37, Z:-1.53 [[ 0.99865286 -0.04910044 -0.01678142 4.87435637] [ 0.04893176 0.99874882 -0.01031894 -0.37381421] [ 0.01726709 0.00948389 0.99980593 -1.52942299] [ 0. 0. 0. 1. ]] SLAMing on 122.34719347 meters Centerline goodness [0,1] 0.8689833937452583 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 0.99861065 -0.04984425 -0.0170972 4.8756555 ] [ 0.04968046 0.99871634 -0.00987497 -0.37698599] [ 0.01756746 0.00901185 0.99980507 -1.53019634] [ 0. 0. 0. 1. ]] SLAMing on 122.37719347 meters Centerline goodness [0,1] 0.8444201496930451 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 0.9983474 -0.05484471 -0.01716195 4.87706293] [ 0.05461593 0.9984158 -0.0135272 -0.37995013] [ 0.01787666 0.01256753 0.99976121 -1.53114941] [ 0. 0. 0. 1. ]] SLAMing on 122.40719347 meters Centerline goodness [0,1] 0.8371239911958914 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 0.99833784 -0.05501546 -0.01717113 4.87692673] [ 0.05479287 0.99841082 -0.01317515 -0.38118717] [ 0.01786868 0.0122124 0.99976576 -1.53078816] [ 0. 0. 0. 1. ]] SLAMing on 122.43719347 meters Centerline goodness [0,1] 0.8533957450397454 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 0.99833254 -0.05511439 -0.01716203 4.87629112] [ 0.05489096 0.99840472 -0.01322869 -0.38112837] [ 0.01786374 0.01226459 0.99976521 -1.52981233] [ 0. 0. 0. 1. ]] SLAMing on 122.46719347 meters Centerline goodness [0,1] 0.8641026181098216 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 0.99851547 -0.05165453 -0.0172817 4.87575449] [ 0.05150039 0.99863015 -0.00924857 -0.38237358] [ 0.01773576 0.00834482 0.99980788 -1.5289884 ] [ 0. 0. 0. 1. ]] SLAMing on 122.49719347 meters Centerline goodness [0,1] 0.8708973390413833 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 0.99869852 -0.04788982 -0.01754498 4.87591184] [ 0.04778836 0.99883851 -0.00615704 -0.37942807] [ 0.01781947 0.00531058 0.99982712 -1.52897332] [ 0. 0. 0. 1. ]] SLAMing on 122.52719347 meters Centerline goodness [0,1] 0.8838013323214436 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 9.98873150e-01 -4.39937998e-02 -1.78038102e-02 4.87638105e+00] [ 4.39558623e-02 9.99030304e-01 -2.51679384e-03 -3.77928142e-01] [ 1.78972693e-02 1.73137596e-03 9.99838332e-01 -1.52943123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55719347 meters Centerline goodness [0,1] 0.8866497685233676 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.38, Z:-1.53 [[ 9.98989383e-01 -4.10176123e-02 -1.83784632e-02 4.87859844e+00] [ 4.10260619e-02 9.99158073e-01 8.28010348e-05 -3.75282189e-01] [ 1.83595935e-02 -8.36713322e-04 9.99831098e-01 -1.53123161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58719347 meters Centerline goodness [0,1] 0.8922857262839625 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.37, Z:-1.53 [[ 9.99169385e-01 -3.63177841e-02 -1.84812990e-02 4.88029526e+00] [ 3.64009279e-02 9.99328515e-01 4.18235883e-03 -3.70939490e-01] [ 1.83169950e-02 -4.85162134e-03 9.99820459e-01 -1.53350045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61719347 meters Centerline goodness [0,1] 0.8926643845685365 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.37, Z:-1.53 [[ 9.99171236e-01 -3.63147549e-02 -1.83869608e-02 4.88024780e+00] [ 3.63889720e-02 9.99330786e-01 3.71793955e-03 -3.68878366e-01] [ 1.82396399e-02 -4.38394085e-03 9.99824033e-01 -1.53370438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64719347 meters Centerline goodness [0,1] 0.8912381632267411 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.37, Z:-1.53 [[ 9.99156050e-01 -3.67000744e-02 -1.84469959e-02 4.88032726e+00] [ 3.67636264e-02 9.99319126e-01 3.11776691e-03 -3.67423442e-01] [ 1.83200136e-02 -3.79331413e-03 9.99824979e-01 -1.53361000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67719347 meters Centerline goodness [0,1] 0.8938230454411207 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.37, Z:-1.53 [[ 9.99141928e-01 -3.70702216e-02 -1.84717474e-02 4.88014384e+00] [ 3.71270193e-02 9.99306794e-01 2.74134009e-03 -3.66791105e-01] [ 1.83573206e-02 -3.42478874e-03 9.99825625e-01 -1.53324657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70719346999999 meters Centerline goodness [0,1] 0.8745483572809007 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-1.53 [[ 9.99027735e-01 -3.99525932e-02 -1.86380153e-02 4.88176387e+00] [ 3.99645216e-02 9.99201063e-01 2.67832519e-04 -3.64995836e-01] [ 1.86124241e-02 -1.01243148e-03 9.99826261e-01 -1.53432549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73719347 meters Centerline goodness [0,1] 0.8646654474364635 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-1.53 [[ 9.99005521e-01 -4.05429552e-02 -1.85536482e-02 4.88157383e+00] [ 4.05463387e-02 9.99177640e-01 -1.93929378e-04 -3.63881160e-01] [ 1.85462529e-02 -5.58545983e-04 9.99827847e-01 -1.53421960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76719347 meters Centerline goodness [0,1] 0.85122347039855 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-1.53 [[ 9.98983025e-01 -4.11754611e-02 -1.83710763e-02 4.88122870e+00] [ 4.11668952e-02 9.99151927e-01 -8.44359642e-04 -3.62000662e-01] [ 1.83902632e-02 8.72207757e-05 9.99830881e-01 -1.53413778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79719347 meters Centerline goodness [0,1] 0.8537066163363741 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.36, Z:-1.54 [[ 0.99894744 -0.04428036 -0.011969 4.89082987] [ 0.04434618 0.99900222 0.00529062 -0.36042907] [ 0.01172279 -0.00581583 0.99991437 -1.5373856 ] [ 0. 0. 0. 1. ]] SLAMing on 122.82719347 meters Centerline goodness [0,1] 0.8472752299318025 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.35, Z:-1.54 [[ 0.99897176 -0.04362191 -0.01235102 4.89318301] [ 0.04369254 0.99902984 0.00550785 -0.35413359] [ 0.01209878 -0.00604183 0.99990855 -1.53952024] [ 0. 0. 0. 1. ]] SLAMing on 122.85719347 meters Centerline goodness [0,1] 0.8472752299318025 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.35, Z:-1.54 [[ 0.99897176 -0.04362191 -0.01235102 4.89318301] [ 0.04369254 0.99902984 0.00550785 -0.35413359] [ 0.01209878 -0.00604183 0.99990855 -1.53952024] [ 0. 0. 0. 1. ]] SLAMing on 122.88719347 meters Centerline goodness [0,1] 0.8515813048119388 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.35, Z:-1.54 [[ 0.99907915 -0.04101299 -0.0126014 4.89463775] [ 0.0411129 0.99912426 0.00777434 -0.35158212] [ 0.01227151 -0.00828526 0.99989038 -1.54100288] [ 0. 0. 0. 1. ]] SLAMing on 122.91719347 meters Centerline goodness [0,1] 0.8569492514907635 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.34, Z:-1.54 [[ 9.99180752e-01 -3.66417262e-02 -1.71816583e-02 4.90477415e+00] [ 3.66907018e-02 9.99323432e-01 2.54384004e-03 -3.43357942e-01] [ 1.70768231e-02 -3.17216311e-03 9.99849148e-01 -1.53999083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94719347 meters Centerline goodness [0,1] 0.8766274807230439 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.34, Z:-1.54 [[ 0.99929175 -0.03345136 -0.01723403 4.90481441] [ 0.03354177 0.99942489 0.00498393 -0.33970677] [ 0.0170574 -0.00555846 0.99983906 -1.54025495] [ 0. 0. 0. 1. ]] SLAMing on 122.97719347 meters Centerline goodness [0,1] 0.8836711569935792 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.33, Z:-1.54 [[ 0.99936772 -0.03092554 -0.01754327 4.90613819] [ 0.03104628 0.99949581 0.0066524 -0.33480783] [ 0.0173287 -0.00719285 0.99982397 -1.54140376] [ 0. 0. 0. 1. ]] SLAMing on 123.00719347 meters Centerline goodness [0,1] 0.888928669207927 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.33, Z:-1.54 [[ 0.99945561 -0.0278799 -0.01764092 4.906575 ] [ 0.02803896 0.99956779 0.00883439 -0.32992382] [ 0.01738699 -0.00932422 0.99980536 -1.5420465 ] [ 0. 0. 0. 1. ]] SLAMing on 123.03719347 meters Centerline goodness [0,1] 0.8878901163523334 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.32, Z:-1.54 [[ 0.99951 -0.02553367 -0.01810487 4.90856667] [ 0.02572464 0.99961502 0.01039476 -0.32487428] [ 0.01783249 -0.01085541 0.99978206 -1.543701 ] [ 0. 0. 0. 1. ]] SLAMing on 123.06719347 meters Centerline goodness [0,1] 0.891683433936955 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.32, Z:-1.55 [[ 0.9995589 -0.02320282 -0.0185375 4.91057298] [ 0.02340641 0.99966724 0.01084227 -0.3154586 ] [ 0.01827976 -0.01127138 0.99976938 -1.54549863] [ 0. 0. 0. 1. ]] SLAMing on 123.09719347 meters Centerline goodness [0,1] 0.8922312099764071 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.31, Z:-1.55 [[ 0.99955756 -0.02334412 -0.01843177 4.91027905] [ 0.02352545 0.99967634 0.00968358 -0.31048643] [ 0.01819975 -0.01011291 0.99978323 -1.54542608] [ 0. 0. 0. 1. ]] SLAMing on 123.12719347 meters Centerline goodness [0,1] 0.8993591763840739 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.31, Z:-1.55 [[ 0.99954322 -0.02384772 -0.01856451 4.91083723] [ 0.02400389 0.99967794 0.00823571 -0.30545363] [ 0.01836212 -0.00867757 0.99979374 -1.54586005] [ 0. 0. 0. 1. ]] SLAMing on 123.15719347 meters Centerline goodness [0,1] 0.890324076025117 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-1.55 [[ 0.99957782 -0.02250229 -0.01838015 4.91035852] [ 0.02266301 0.99970632 0.008583 -0.29805709] [ 0.01818161 -0.00899593 0.99979423 -1.54589739] [ 0. 0. 0. 1. ]] SLAMing on 123.18719347 meters Centerline goodness [0,1] 0.8968870778020501 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.29, Z:-1.55 [[ 0.99956571 -0.02287131 -0.01858213 4.91094179] [ 0.02301218 0.99970777 0.00740301 -0.2943195 ] [ 0.01840739 -0.00782741 0.99979993 -1.54612102] [ 0. 0. 0. 1. ]] SLAMing on 123.21719347 meters Centerline goodness [0,1] 0.8961831101050116 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.29, Z:-1.55 [[ 0.99955557 -0.02312175 -0.01881606 4.91154218] [ 0.02324438 0.99970981 0.00632483 -0.29093944] [ 0.01866435 -0.00675939 0.99980296 -1.54632238] [ 0. 0. 0. 1. ]] SLAMing on 123.24719347 meters Centerline goodness [0,1] 0.8990731204943357 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.29, Z:-1.55 [[ 0.9995529 -0.02316508 -0.01890423 4.91157632] [ 0.02327182 0.99971434 0.00544599 -0.28777124] [ 0.01877267 -0.00588349 0.99980647 -1.54613426] [ 0. 0. 0. 1. ]] SLAMing on 123.27719347 meters Centerline goodness [0,1] 0.9082255822768817 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.28, Z:-1.55 [[ 0.99962548 -0.01994447 -0.01873804 4.91125316] [ 0.02008368 0.99977186 0.00727096 -0.28176729] [ 0.01858875 -0.00764457 0.99979799 -1.54621586] [ 0. 0. 0. 1. ]] SLAMing on 123.30719347 meters Centerline goodness [0,1] 0.9050935638163967 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.28, Z:-1.55 [[ 0.99968358 -0.01657403 -0.01892218 4.91179526] [ 0.01676688 0.99980863 0.01007849 -0.27846755] [ 0.01875152 -0.01039257 0.99977016 -1.54662413] [ 0. 0. 0. 1. ]] SLAMing on 123.33719347 meters Centerline goodness [0,1] 0.907063901463312 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.28, Z:-1.55 [[ 0.99973068 -0.01319742 -0.01908928 4.9121304 ] [ 0.01344427 0.99982691 0.01286091 -0.27509944] [ 0.01891625 -0.01311408 0.99973506 -1.5468431 ] [ 0. 0. 0. 1. ]] SLAMing on 123.36719347 meters Centerline goodness [0,1] 0.9079669753991869 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.27, Z:-1.55 [[ 0.99982426 -0.00921548 -0.01632582 4.919927 ] [ 0.00930673 0.99994144 0.00552238 -0.26811796] [ 0.01627397 -0.00567335 0.99985147 -1.54639812] [ 0. 0. 0. 1. ]] SLAMing on 123.39719347 meters Centerline goodness [0,1] 0.9059656643341949 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.27, Z:-1.55 [[ 9.99821761e-01 -9.16198156e-03 -1.65077251e-02 4.92073237e+00] [ 9.24287669e-03 9.99945615e-01 4.83082690e-03 -2.65714985e-01] [ 1.64625673e-02 -4.98254472e-03 9.99852068e-01 -1.54696097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42719347 meters Centerline goodness [0,1] 0.9033719704952582 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.26, Z:-1.55 [[ 9.99818591e-01 -9.05632095e-03 -1.67561491e-02 4.92173768e+00] [ 9.12589537e-03 9.99950033e-01 4.08037760e-03 -2.62480636e-01] [ 1.67183586e-02 -4.23255225e-03 9.99851280e-01 -1.54766341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45719346999999 meters Centerline goodness [0,1] 0.9019405840674474 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.26, Z:-1.55 [[ 0.99983278 -0.00618431 -0.0172093 4.92361962] [ 0.00629424 0.99996009 0.00634109 -0.25889424] [ 0.0171694 -0.00644835 0.9998318 -1.54898089] [ 0. 0. 0. 1. ]] SLAMing on 123.48719347 meters Centerline goodness [0,1] 0.8956672151204489 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.25, Z:-1.55 [[ 9.99847909e-01 -2.47551228e-03 -1.72635616e-02 4.92332540e+00] [ 2.61690887e-03 9.99963179e-01 8.17269005e-03 -2.51110662e-01] [ 1.72426944e-02 -8.21662422e-03 9.99817572e-01 -1.54829016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51719347 meters Centerline goodness [0,1] 0.8948876807013108 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.25, Z:-1.55 [[ 9.99838698e-01 -2.11011952e-03 -1.78360881e-02 4.92434643e+00] [ 2.24748647e-03 9.99967944e-01 7.68509743e-03 -2.48732245e-01] [ 1.78192998e-02 -7.72394417e-03 9.99811389e-01 -1.54818847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54719347 meters Centerline goodness [0,1] 0.8906085269683296 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.25, Z:-1.55 [[ 9.99834820e-01 -2.09362760e-03 -1.80540923e-02 4.92485575e+00] [ 2.22128742e-03 9.99972654e-01 7.05381105e-03 -2.46957125e-01] [ 1.80388305e-02 -7.09274922e-03 9.99812129e-01 -1.54822653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57719347 meters Centerline goodness [0,1] 0.8910944992357142 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-1.55 [[ 9.99901061e-01 6.52832736e-04 -1.40514097e-02 4.93459146e+00] [-6.58136540e-04 9.99999714e-01 -3.72836305e-04 -2.44440847e-01] [ 1.40511623e-02 3.82047163e-04 9.99901205e-01 -1.54996937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60719347 meters Centerline goodness [0,1] 0.8878506644167897 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.55 [[ 9.99888260e-01 4.58179841e-03 -1.42293537e-02 4.93572152e+00] [-4.54138427e-03 9.99985566e-01 2.87120987e-03 -2.41714112e-01] [ 1.42423036e-02 -2.80626808e-03 9.99894635e-01 -1.55104236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63719347 meters Centerline goodness [0,1] 0.8869790787919689 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.55 [[ 9.99882276e-01 4.75282293e-03 -1.45892059e-02 4.93689152e+00] [-4.71477545e-03 9.99985397e-01 2.64120727e-03 -2.40720023e-01] [ 1.46015460e-02 -2.57211150e-03 9.99890084e-01 -1.55167575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66719347 meters Centerline goodness [0,1] 0.8864796456443789 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.55 [[ 9.99874478e-01 5.20197137e-03 -1.49655299e-02 4.93822114e+00] [-5.15718305e-03 9.99982112e-01 3.02980264e-03 -2.41761650e-01] [ 1.49810232e-02 -2.95224236e-03 9.99883420e-01 -1.55251814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69719347 meters Centerline goodness [0,1] 0.8866216501371598 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.55 [[ 9.99865034e-01 6.57256098e-03 -1.50570359e-02 4.93881997e+00] [-6.50354294e-03 9.99968142e-01 4.62816197e-03 -2.45699826e-01] [ 1.50869751e-02 -4.52961325e-03 9.99875925e-01 -1.55294409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72719347 meters Centerline goodness [0,1] 0.8921057629407668 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.55 [[ 9.99879818e-01 4.05562064e-03 -1.49633123e-02 4.93849998e+00] [-4.02951854e-03 9.99990308e-01 1.77414349e-03 -2.46187543e-01] [ 1.49703625e-02 -1.71363533e-03 9.99886469e-01 -1.55252733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75719347 meters Centerline goodness [0,1] 0.8883329829724617 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.55 [[ 9.99874527e-01 2.47335362e-03 -1.56464765e-02 4.94114327e+00] [-2.46628830e-03 9.99996848e-01 4.70839462e-04 -2.49101780e-01] [ 1.56475918e-02 -4.32191663e-04 9.99877476e-01 -1.55404962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78719347 meters Centerline goodness [0,1] 0.8887247869018482 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.55 [[ 9.99874678e-01 -4.60653144e-04 -1.58245423e-02 4.94149460e+00] [ 4.31652069e-04 9.99998221e-01 -1.83603104e-03 -2.53102858e-01] [ 1.58253599e-02 1.82897025e-03 9.99873098e-01 -1.55407038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81719347 meters Centerline goodness [0,1] 0.8853485723925604 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.26, Z:-1.55 [[ 9.99861438e-01 -5.26071751e-03 -1.57933475e-02 4.94143988e+00] [ 5.18573687e-03 9.99975107e-01 -4.78481403e-03 -2.64802790e-01] [ 1.58181259e-02 4.70225089e-03 9.99863829e-01 -1.55380571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84719347 meters Centerline goodness [0,1] 0.8859885800338834 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-1.56 [[ 9.99927608e-01 -7.46547120e-03 -9.43640834e-03 4.95250215e+00] [ 7.49139348e-03 9.99968254e-01 2.71469366e-03 -2.72867306e-01] [ 9.41584231e-03 -2.78518899e-03 9.99951791e-01 -1.55754993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87719347 meters Centerline goodness [0,1] 0.8850359984047355 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.28, Z:-1.56 [[ 9.99904594e-01 -1.00626129e-02 -9.46293288e-03 4.95236546e+00] [ 1.00738864e-02 9.99948602e-01 1.14441989e-03 -2.78433940e-01] [ 9.45093065e-03 -1.23963921e-03 9.99954571e-01 -1.55717134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90719347 meters Centerline goodness [0,1] 0.8841575859178541 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.29, Z:-1.56 [[ 9.99908202e-01 -9.60062267e-03 -9.56110039e-03 4.95252660e+00] [ 9.63181955e-03 9.99948421e-01 3.22221251e-03 -2.85687415e-01] [ 9.52967199e-03 -3.31400751e-03 9.99949100e-01 -1.55694551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93719347 meters Centerline goodness [0,1] 0.8839629185848521 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-1.56 [[ 9.99847920e-01 -1.47309030e-02 -9.33474374e-03 4.95167086e+00] [ 1.47324126e-02 9.99891468e-01 9.29776514e-05 -2.96954900e-01] [ 9.33236098e-03 -2.30486808e-04 9.99956426e-01 -1.55585538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96719347 meters Centerline goodness [0,1] 0.887012987012987 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-1.56 [[ 9.99795089e-01 -1.78440695e-02 -9.55868413e-03 4.95254130e+00] [ 1.78261710e-02 9.99839191e-01 -1.95442982e-03 -3.02135753e-01] [ 9.59202198e-03 1.78363460e-03 9.99952405e-01 -1.55616655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99719347 meters Centerline goodness [0,1] 0.8876891667192861 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.31, Z:-1.56 [[ 9.99730268e-01 -2.11003814e-02 -9.70389863e-03 4.95334650e+00] [ 2.10616704e-02 9.99769877e-01 -4.07426989e-03 -3.07334306e-01] [ 9.78763419e-03 3.86879061e-03 9.99944616e-01 -1.55662592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02719347 meters Centerline goodness [0,1] 0.890579163523594 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.31, Z:-1.56 [[ 0.99965113 -0.02449505 -0.00987989 4.95447092] [ 0.02443317 0.99968139 -0.00633548 -0.31243947] [ 0.01003193 0.00609187 0.99993112 -1.55735462] [ 0. 0. 0. 1. ]] SLAMing on 124.05719347 meters Centerline goodness [0,1] 0.8904863292366718 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.32, Z:-1.56 [[ 0.99956399 -0.02776064 -0.01005829 4.95568654] [ 0.0276737 0.9995793 -0.00868242 -0.31694865] [ 0.01029509 0.00840029 0.99991172 -1.55819761] [ 0. 0. 0. 1. ]] SLAMing on 124.08719347 meters Centerline goodness [0,1] 0.8994409885675857 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.32, Z:-1.56 [[ 0.99947332 -0.03070379 -0.01050504 4.95896887] [ 0.03059962 0.99948232 -0.0099373 -0.32427155] [ 0.01080472 0.00961062 0.99989544 -1.5611673 ] [ 0. 0. 0. 1. ]] SLAMing on 124.11719347 meters Centerline goodness [0,1] 0.8996707421932345 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.33, Z:-1.56 [[ 0.99949262 -0.0298513 -0.01110866 4.96173687] [ 0.02975792 0.99952118 -0.00847847 -0.32641842] [ 0.01135643 0.00814359 0.99990235 -1.56322738] [ 0. 0. 0. 1. ]] SLAMing on 124.14719347 meters Centerline goodness [0,1] 0.9012070488287001 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.33, Z:-1.56 [[ 9.99587709e-01 -2.62981836e-02 -1.15246241e-02 4.96296254e+00] [ 2.62558145e-02 9.99647987e-01 -3.81243442e-03 -3.29341557e-01] [ 1.16208273e-02 3.50827420e-03 9.99926321e-01 -1.56402284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17719347 meters Centerline goodness [0,1] 0.897052929139506 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.33, Z:-1.56 [[ 9.99613201e-01 -2.51488071e-02 -1.18737300e-02 4.96362167e+00] [ 2.51231867e-02 9.99681712e-01 -2.30201223e-03 -3.32734701e-01] [ 1.19278436e-02 2.00281588e-03 9.99926855e-01 -1.56395846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20719346999999 meters Centerline goodness [0,1] 0.8970789834440578 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.33, Z:-1.56 [[ 9.99629500e-01 -2.43232355e-02 -1.22165082e-02 4.96409515e+00] [ 2.43073326e-02 9.99703484e-01 -1.44857403e-03 -3.34470456e-01] [ 1.22481198e-02 1.15108661e-03 9.99924326e-01 -1.56365740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23719347 meters Centerline goodness [0,1] 0.8909274745644893 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.34, Z:-1.56 [[ 9.99674085e-01 -2.19575789e-02 -1.30226393e-02 4.96613304e+00] [ 2.19693101e-02 9.99758358e-01 7.58444383e-04 -3.36423594e-01] [ 1.30028389e-02 -1.04429559e-03 9.99914914e-01 -1.56438621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26719347 meters Centerline goodness [0,1] 0.891560960268372 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.34, Z:-1.57 [[ 9.99712909e-01 -1.96643594e-02 -1.36898816e-02 4.96837070e+00] [ 1.97052160e-02 9.99801754e-01 2.85596327e-03 -3.37347099e-01] [ 1.36310070e-02 -3.12490542e-03 9.99902211e-01 -1.56557869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29719347 meters Centerline goodness [0,1] 0.886464984821522 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.34, Z:-1.57 [[ 0.99975858 -0.01663687 -0.0143529 4.97070872] [ 0.01672256 0.99984293 0.00587046 -0.33978268] [ 0.01425298 -0.00610906 0.99987976 -1.56688913] [ 0. 0. 0. 1. ]] SLAMing on 124.32719347 meters Centerline goodness [0,1] 0.879989893885801 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.34, Z:-1.57 [[ 0.99976637 -0.01610607 -0.01441514 4.97076028] [ 0.01620535 0.99984558 0.00679736 -0.34201255] [ 0.01430343 -0.00702937 0.99987299 -1.56671277] [ 0. 0. 0. 1. ]] SLAMing on 124.35719347 meters Centerline goodness [0,1] 0.8790501739531374 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.34, Z:-1.57 [[ 0.99973333 -0.01760605 -0.01494305 4.97257022] [ 0.01768702 0.99982951 0.00530369 -0.34432787] [ 0.01484712 -0.00556658 0.99987428 -1.56747669] [ 0. 0. 0. 1. ]] SLAMing on 124.38719347 meters Centerline goodness [0,1] 0.8770340158937056 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.35, Z:-1.57 [[ 0.99973731 -0.01738404 -0.01493652 4.97224993] [ 0.01748105 0.99982678 0.00638916 -0.34845789] [ 0.01482287 -0.00664859 0.99986803 -1.56689615] [ 0. 0. 0. 1. ]] SLAMing on 124.41719347 meters Centerline goodness [0,1] 0.8770141537948429 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-1.57 [[ 9.99666046e-01 -2.09484882e-02 -1.51313678e-02 4.97312629e+00] [ 2.10099852e-02 9.99771594e-01 3.91672654e-03 -3.56000452e-01] [ 1.50458622e-02 -4.23332835e-03 9.99877843e-01 -1.56697311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44719347 meters Centerline goodness [0,1] 0.8791310182855225 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-1.57 [[ 0.99966612 -0.02069778 -0.01546794 4.97391108] [ 0.02078123 0.99977024 0.00525429 -0.36013459] [ 0.01535563 -0.00557397 0.99986656 -1.56698976] [ 0. 0. 0. 1. ]] SLAMing on 124.47719347 meters Centerline goodness [0,1] 0.8771653543307086 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.37, Z:-1.57 [[ 0.99967629 -0.01998129 -0.01574988 4.97487774] [ 0.02010042 0.99977027 0.00744229 -0.36663084] [ 0.01559756 -0.00775646 0.99984827 -1.56724007] [ 0. 0. 0. 1. ]] SLAMing on 124.50719347 meters Centerline goodness [0,1] 0.878638854737544 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.37, Z:-1.57 [[ 0.99968461 -0.01911982 -0.01628215 4.97689832] [ 0.01926421 0.99977607 0.00875798 -0.36952435] [ 0.01611105 -0.00906888 0.99982908 -1.56838276] [ 0. 0. 0. 1. ]] SLAMing on 124.53719347 meters Centerline goodness [0,1] 0.8789096847129758 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.37, Z:-1.57 [[ 0.99969499 -0.01826334 -0.01662466 4.97820893] [ 0.01843071 0.99978042 0.00997086 -0.37243764] [ 0.0164389 -0.01027422 0.99981208 -1.56913878] [ 0. 0. 0. 1. ]] SLAMing on 124.56719347 meters Centerline goodness [0,1] 0.8829447595043058 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.38, Z:-1.57 [[ 0.99970759 -0.01706494 -0.01713277 4.98029746] [ 0.01726365 0.99978462 0.01151859 -0.37602297] [ 0.01693251 -0.011811 0.99978687 -1.5704505 ] [ 0. 0. 0. 1. ]] SLAMing on 124.59719347 meters Centerline goodness [0,1] 0.8840680100755668 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.38, Z:-1.57 [[ 0.99972619 -0.01578172 -0.0172764 4.98106178] [ 0.0160153 0.99978106 0.01346637 -0.38270378] [ 0.01706009 -0.01373937 0.99976006 -1.5707689 ] [ 0. 0. 0. 1. ]] SLAMing on 124.62719347 meters Centerline goodness [0,1] 0.8823024054982818 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.38, Z:-1.57 [[ 0.99968888 -0.01747149 -0.01780127 4.98264486] [ 0.01768287 0.99977417 0.01178662 -0.38471285] [ 0.01759132 -0.01209773 0.99977207 -1.57130874] [ 0. 0. 0. 1. ]] SLAMing on 124.65719347 meters Centerline goodness [0,1] 0.881212452211906 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.39, Z:-1.57 [[ 0.99964651 -0.01995405 -0.01756956 4.98131124] [ 0.02012355 0.99975214 0.00952399 -0.38640794] [ 0.01737516 -0.00987419 0.99980028 -1.57000877] [ 0. 0. 0. 1. ]] SLAMing on 124.68719347 meters Centerline goodness [0,1] 0.8794915822095652 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.39, Z:-1.57 [[ 0.99955619 -0.02384355 -0.01785818 4.98260519] [ 0.02397284 0.99968767 0.00706105 -0.39366443] [ 0.01768424 -0.00748603 0.9998156 -1.57019347] [ 0. 0. 0. 1. ]] SLAMing on 124.71719347 meters Centerline goodness [0,1] 0.8742600146428198 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.40, Z:-1.57 [[ 9.99467857e-01 -2.72025580e-02 -1.80006722e-02 4.98318924e+00] [ 2.72898006e-02 9.99616893e-01 4.61882963e-03 -3.98000376e-01] [ 1.78681321e-02 -5.10760651e-03 9.99827306e-01 -1.57016597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74719347 meters Centerline goodness [0,1] 0.8742600146428198 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.40, Z:-1.57 [[ 9.99467857e-01 -2.72025580e-02 -1.80006722e-02 4.98318924e+00] [ 2.72898006e-02 9.99616893e-01 4.61882963e-03 -3.98000376e-01] [ 1.78681321e-02 -5.10760651e-03 9.99827306e-01 -1.57016597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77719347 meters Centerline goodness [0,1] 0.8770436824012744 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.40, Z:-1.57 [[ 9.99361226e-01 -3.07428110e-02 -1.82213813e-02 4.98420198e+00] [ 3.07834006e-02 9.99524174e-01 1.95123801e-03 -4.01702864e-01] [ 1.81527246e-02 -2.51090769e-03 9.99832073e-01 -1.57050230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80719347 meters Centerline goodness [0,1] 0.8799824425725812 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-1.57 [[ 9.99240338e-01 -3.42767692e-02 -1.85431838e-02 4.98590399e+00] [ 3.42694461e-02 9.99412376e-01 -7.12632436e-04 -4.05100529e-01] [ 1.85567141e-02 7.66264399e-05 9.99827806e-01 -1.57144621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83719347 meters Centerline goodness [0,1] 0.8871011498570505 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.41, Z:-1.57 [[ 0.99897389 -0.0412517 -0.01869385 4.98786553] [ 0.0411488 0.99913587 -0.005856 -0.41191675] [ 0.01891927 0.00508076 0.99980811 -1.57250638] [ 0. 0. 0. 1. ]] SLAMing on 124.86719347 meters Centerline goodness [0,1] 0.8933372480758341 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.42, Z:-1.57 [[ 9.98949066e-01 -4.17375354e-02 -1.89404604e-02 4.98874884e+00] [ 4.16537001e-02 9.99120580e-01 -4.79955326e-03 -4.16631841e-01] [ 1.91241253e-02 4.00556898e-03 9.99809093e-01 -1.57260215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89719347 meters Centerline goodness [0,1] 0.8959175551412831 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.42, Z:-1.57 [[ 9.98913127e-01 -4.23725585e-02 -1.94198522e-02 4.99016108e+00] [ 4.23022502e-02 9.99096783e-01 -4.01722012e-03 -4.20696287e-01] [ 1.95725318e-02 3.19135047e-03 9.99803346e-01 -1.57289307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92719347 meters Centerline goodness [0,1] 0.8992428532477611 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.43, Z:-1.57 [[ 0.99868896 -0.04724417 -0.01970652 4.99168711] [ 0.04711062 0.99886382 -0.00718743 -0.42546951] [ 0.0200237 0.00624962 0.99977997 -1.57324188] [ 0. 0. 0. 1. ]] SLAMing on 124.95719346999999 meters Centerline goodness [0,1] 0.897417189552021 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.43, Z:-1.58 [[ 9.98624236e-01 -5.02511213e-02 -1.49819922e-02 5.00139280e+00] [ 5.02554882e-02 9.98736391e-01 -8.51010838e-05 -4.28374448e-01] [ 1.49673373e-02 -6.67943329e-04 9.99887760e-01 -1.57509173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98719347 meters Centerline goodness [0,1] 0.8953235454051115 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.43, Z:-1.57 [[ 9.98610383e-01 -5.04653390e-02 -1.51839532e-02 5.00146501e+00] [ 5.04753506e-02 9.98725269e-01 2.76605260e-04 -4.30033164e-01] [ 1.51506388e-02 -1.04263625e-03 9.99884679e-01 -1.57445107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01719347 meters Centerline goodness [0,1] 0.8941747776913536 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.43, Z:-1.57 [[ 9.98608289e-01 -5.04400873e-02 -1.54040108e-02 5.00148521e+00] [ 5.04542735e-02 9.98726230e-01 5.33463113e-04 -4.30530146e-01] [ 1.53574817e-02 -1.30991886e-03 9.99881209e-01 -1.57384538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04719347 meters Centerline goodness [0,1] 0.8981477583666596 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.43, Z:-1.57 [[ 9.98774490e-01 -4.68809030e-02 -1.58650044e-02 5.00228583e+00] [ 4.69436511e-02 9.98891031e-01 3.60590224e-03 -4.27561681e-01] [ 1.56783626e-02 -4.34624440e-03 9.99867641e-01 -1.57422137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07719347 meters Centerline goodness [0,1] 0.8980034083019504 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.43, Z:-1.57 [[ 0.9989326 -0.0431446 -0.01649841 5.00302383] [ 0.04326376 0.99903962 0.00693491 -0.42567343] [ 0.01618336 -0.00764129 0.99983984 -1.57405189] [ 0. 0. 0. 1. ]] SLAMing on 125.10719347 meters Centerline goodness [0,1] 0.8985064565734869 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.42, Z:-1.57 [[ 9.99272518e-01 -3.38609384e-02 -1.75462977e-02 5.00996446e+00] [ 3.39373808e-02 9.99415644e-01 4.07723430e-03 -4.19618105e-01] [ 1.73979854e-02 -4.66974357e-03 9.99837739e-01 -1.57060349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13719347 meters Centerline goodness [0,1] 0.8994989561586639 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.42, Z:-1.57 [[ 9.99539146e-01 -2.77240171e-02 -1.23642268e-02 5.02087592e+00] [ 2.77305048e-02 9.99615373e-01 3.53550085e-04 -4.15985237e-01] [ 1.23496694e-02 -6.96253401e-04 9.99923498e-01 -1.57368747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16719347 meters Centerline goodness [0,1] 0.8957605355113039 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.41, Z:-1.57 [[ 9.99635581e-01 -2.38775546e-02 -1.25923892e-02 5.02099860e+00] [ 2.39259874e-02 9.99706850e-01 3.70964976e-03 -4.13471468e-01] [ 1.25001204e-02 -4.00958323e-03 9.99913831e-01 -1.57356454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19719347 meters Centerline goodness [0,1] 0.8927060309441112 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.41, Z:-1.57 [[ 0.99970368 -0.02059424 -0.0129782 5.02185223] [ 0.0206829 0.9997634 0.00673475 -0.41121974] [ 0.01283644 -0.00700119 0.9998931 -1.57388343] [ 0. 0. 0. 1. ]] SLAMing on 125.22719347 meters Centerline goodness [0,1] 0.8934312405318969 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.41, Z:-1.58 [[ 0.99974186 -0.01812112 -0.01370558 5.02430438] [ 0.01823973 0.99979683 0.00857939 -0.40666085] [ 0.01354732 -0.00882716 0.99986927 -1.57545567] [ 0. 0. 0. 1. ]] SLAMing on 125.25719347 meters Centerline goodness [0,1] 0.8903888481291269 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99973375 -0.01837156 -0.01396107 5.02508334] [ 0.01848265 0.99979821 0.00786968 -0.40460906] [ 0.01381367 -0.00812562 0.99987157 -1.5758078 ] [ 0. 0. 0. 1. ]] SLAMing on 125.28719347 meters Centerline goodness [0,1] 0.8908172002589646 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99972682 -0.01856972 -0.01419299 5.02585138] [ 0.01867366 0.99979952 0.0072264 -0.40278511] [ 0.01405595 -0.00748946 0.99987316 -1.57619695] [ 0. 0. 0. 1. ]] SLAMing on 125.31719347 meters Centerline goodness [0,1] 0.8881547105490204 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99973043 -0.01831867 -0.01426514 5.02631149] [ 0.01841287 0.99980934 0.00650055 -0.40034639] [ 0.01414334 -0.00676146 0.99987712 -1.57670753] [ 0. 0. 0. 1. ]] SLAMing on 125.34719347 meters Centerline goodness [0,1] 0.8900911521377597 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99972852 -0.01814719 -0.01461368 5.02724513] [ 0.01824012 0.99981409 0.00625153 -0.39945044] [ 0.01449751 -0.00651639 0.99987367 -1.57704332] [ 0. 0. 0. 1. ]] SLAMing on 125.37719347 meters Centerline goodness [0,1] 0.8878331791810309 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99972721 -0.01800414 -0.01487801 5.02785544] [ 0.01809353 0.99981892 0.00589527 -0.39805348] [ 0.01476917 -0.00616286 0.99987194 -1.57716966] [ 0. 0. 0. 1. ]] SLAMing on 125.40719347 meters Centerline goodness [0,1] 0.8863086089647767 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99972475 -0.01807501 -0.01495743 5.02787558] [ 0.01815646 0.99982096 0.0053281 -0.39537824] [ 0.01485845 -0.00559821 0.99987394 -1.57693148] [ 0. 0. 0. 1. ]] SLAMing on 125.43719347 meters Centerline goodness [0,1] 0.8892044259329379 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 9.99710668e-01 -1.85891258e-02 -1.52651170e-02 5.02872230e+00] [ 1.86675744e-02 9.99813180e-01 5.01274985e-03 -3.95161077e-01] [ 1.51690825e-02 -5.29626221e-03 9.99870916e-01 -1.57718839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46719347 meters Centerline goodness [0,1] 0.8920004204772417 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99969274 -0.01920046 -0.01567674 5.03001164] [ 0.01928245 0.99980109 0.00509561 -0.39675922] [ 0.01557578 -0.00539633 0.99986413 -1.57767609] [ 0. 0. 0. 1. ]] SLAMing on 125.49719347 meters Centerline goodness [0,1] 0.896836371254976 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 9.99598612e-01 -2.34146344e-02 -1.59489744e-02 5.03116944e+00] [ 2.34363792e-02 9.99724637e-01 1.17783464e-03 -3.97551288e-01] [ 1.59170040e-02 -1.55114809e-03 9.99872113e-01 -1.57815015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52719347 meters Centerline goodness [0,1] 0.9020855648667381 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99936095 -0.0319766 -0.01597476 5.0321283 ] [ 0.03187861 0.99947157 -0.00635156 -0.40022017] [ 0.01616942 0.00583825 0.99985222 -1.57855677] [ 0. 0. 0. 1. ]] SLAMing on 125.55719347 meters Centerline goodness [0,1] 0.8987156117082574 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99932627 -0.03285675 -0.01635356 5.03342837] [ 0.03276146 0.99944482 -0.0060609 -0.40303506] [ 0.01654362 0.00552105 0.9998479 -1.57905842] [ 0. 0. 0. 1. ]] SLAMing on 125.58719347 meters Centerline goodness [0,1] 0.8954936072102284 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.40, Z:-1.58 [[ 0.99929963 -0.03351738 -0.01663839 5.03461834] [ 0.03342193 0.99942343 -0.0059816 -0.40462878] [ 0.01682928 0.00542132 0.99984368 -1.57975906] [ 0. 0. 0. 1. ]] SLAMing on 125.61719347 meters Centerline goodness [0,1] 0.8894224720043619 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.41, Z:-1.58 [[ 0.99927646 -0.03406687 -0.0169118 5.03586541] [ 0.03396906 0.99940465 -0.00603757 -0.40532231] [ 0.01710741 0.00545872 0.99983876 -1.5806128 ] [ 0. 0. 0. 1. ]] SLAMing on 125.64719347 meters Centerline goodness [0,1] 0.8658925556088307 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.40, Z:-1.58 [[ 0.99920256 -0.03587384 -0.01753049 5.03883755] [ 0.035745 0.99933198 -0.0076085 -0.40324863] [ 0.01779173 0.0069758 0.99981738 -1.5827087 ] [ 0. 0. 0. 1. ]] SLAMing on 125.67719347 meters Centerline goodness [0,1] 0.8507720139677731 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.40, Z:-1.58 [[ 0.99918409 -0.03628992 -0.01772544 5.03937754] [ 0.03615172 0.99931384 -0.00805604 -0.40222939] [ 0.01800563 0.00740866 0.99981044 -1.5828598 ] [ 0. 0. 0. 1. ]] SLAMing on 125.70719346999999 meters Centerline goodness [0,1] 0.8425033523298693 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.40, Z:-1.58 [[ 0.99916357 -0.03666718 -0.01810176 5.04026206] [ 0.0365153 0.99929565 -0.00865069 -0.40069367] [ 0.0184062 0.00798246 0.99979873 -1.58301178] [ 0. 0. 0. 1. ]] SLAMing on 125.73719347 meters Centerline goodness [0,1] 0.8465807563749501 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.40, Z:-1.58 [[ 0.99926857 -0.03362027 -0.01822082 5.03976302] [ 0.03351746 0.99942061 -0.00591851 -0.39764633] [ 0.01840925 0.00530346 0.99981647 -1.5821882 ] [ 0. 0. 0. 1. ]] SLAMing on 125.76719347 meters Centerline goodness [0,1] 0.8556837248322148 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.39, Z:-1.58 [[ 0.99925686 -0.03384665 -0.0184427 5.03984815] [ 0.03372633 0.99940799 -0.00679674 -0.39488951] [ 0.01866183 0.00616968 0.99980682 -1.58165497] [ 0. 0. 0. 1. ]] SLAMing on 125.79719347 meters Centerline goodness [0,1] 0.8610173046670162 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.39, Z:-1.58 [[ 9.99366154e-01 -3.04321662e-02 -1.84708616e-02 5.03937165e+00] [ 3.03741162e-02 9.99532765e-01 -3.41529984e-03 -3.93669276e-01] [ 1.85661663e-02 2.85209897e-03 9.99823566e-01 -1.58109182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82719347 meters Centerline goodness [0,1] 0.8627319143571534 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.39, Z:-1.58 [[ 9.99464841e-01 -2.70898160e-02 -1.83350604e-02 5.03876463e+00] [ 2.70881091e-02 9.99632992e-01 -3.41482604e-04 -3.91517844e-01] [ 1.83375819e-02 -1.55362259e-04 9.99831840e-01 -1.58070704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85719347 meters Centerline goodness [0,1] 0.8690979451910741 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.38, Z:-1.58 [[ 9.99543525e-01 -2.40916581e-02 -1.82300143e-02 5.03827165e+00] [ 2.41157483e-02 9.99708565e-01 1.10274798e-03 -3.84272764e-01] [ 1.81981344e-02 -1.54187504e-03 9.99833211e-01 -1.58052708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88719347 meters Centerline goodness [0,1] 0.8821382882788416 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.38, Z:-1.58 [[ 9.99541498e-01 -2.39761017e-02 -1.84916513e-02 5.03894456e+00] [ 2.39857891e-02 9.99712254e-01 3.02236977e-04 -3.81188392e-01] [ 1.84790840e-02 -7.45635249e-04 9.99828969e-01 -1.58079867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91719347 meters Centerline goodness [0,1] 0.8856265511294326 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.38, Z:-1.58 [[ 9.99573606e-01 -2.29091593e-02 -1.81045845e-02 5.03714507e+00] [ 2.29237048e-02 9.99737040e-01 5.96267395e-04 -3.78754435e-01] [ 1.80861637e-02 -1.01103730e-03 9.99835921e-01 -1.57953225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94719347 meters Centerline goodness [0,1] 0.8925797561382997 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.37, Z:-1.58 [[ 9.99799007e-01 -1.66122344e-02 -1.12240248e-02 5.04528499e+00] [ 1.65816177e-02 9.99858552e-01 -2.81535854e-03 -3.71770797e-01] [ 1.12692066e-02 2.62868019e-03 9.99933045e-01 -1.58150125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97719347 meters Centerline goodness [0,1] 0.8938243271437513 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.37, Z:-1.58 [[ 9.99850475e-01 -1.29789071e-02 -1.14269270e-02 5.04603539e+00] [ 1.29840780e-02 9.99915632e-01 3.78443480e-04 -3.69285738e-01] [ 1.14210511e-02 -5.26755005e-04 9.99934639e-01 -1.58207688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00719347 meters Centerline goodness [0,1] 0.8933414757412399 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.37, Z:-1.58 [[ 9.99885463e-01 -9.63651682e-03 -1.16703923e-02 5.04700200e+00] [ 9.67693453e-03 9.99947357e-01 3.41176510e-03 -3.67282310e-01] [ 1.16369004e-02 -3.52430795e-03 9.99926078e-01 -1.58287044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03719347 meters Centerline goodness [0,1] 0.8932878701774326 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.36, Z:-1.59 [[ 9.99897618e-01 -7.67895195e-03 -1.20742052e-02 5.04936546e+00] [ 7.73526668e-03 9.99959390e-01 4.62428941e-03 -3.62381028e-01] [ 1.20382052e-02 -4.71721317e-03 9.99916411e-01 -1.58502028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06719347 meters Centerline goodness [0,1] 0.8916293287550773 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.36, Z:-1.59 [[ 9.99949061e-01 -6.00580132e-03 -8.11212925e-03 5.05912548e+00] [ 5.97411101e-03 9.99974451e-01 -3.92513377e-03 -3.59397916e-01] [ 8.13549557e-03 3.87647106e-03 9.99959393e-01 -1.58689489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09719347 meters Centerline goodness [0,1] 0.8909098564270979 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.36, Z:-1.59 [[ 9.99944115e-01 -6.62037041e-03 -8.24243813e-03 5.05916168e+00] [ 6.58290540e-03 9.99967916e-01 -4.56424259e-03 -3.58288753e-01] [ 8.27239066e-03 4.50972833e-03 9.99955614e-01 -1.58656789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12719347 meters Centerline goodness [0,1] 0.8747543998996697 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.36, Z:-1.59 [[ 9.99937560e-01 -1.07452918e-02 -3.06841945e-03 5.06914683e+00] [ 1.07487725e-02 9.99941603e-01 1.12015377e-03 -3.58075444e-01] [ 3.05620388e-03 -1.15306557e-03 9.99994665e-01 -1.58938675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15719347 meters Centerline goodness [0,1] 0.8781485150601774 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.36, Z:-1.59 [[ 9.99927592e-01 -1.16207062e-02 -3.12573551e-03 5.06933129e+00] [ 1.16216470e-02 9.99932426e-01 2.82972413e-04 -3.56477703e-01] [ 3.12223595e-03 -3.19278118e-04 9.99995075e-01 -1.58946288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18719347 meters Centerline goodness [0,1] 0.8598408287013644 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.35, Z:-1.59 [[ 9.99897451e-01 -1.39934568e-02 -3.04461782e-03 5.06909642e+00] [ 1.39864133e-02 9.99899488e-01 -2.32256990e-03 -3.50259724e-01] [ 3.07681258e-03 2.27974844e-03 9.99992668e-01 -1.58921723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21719347 meters Centerline goodness [0,1] 0.845569143144317 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.35, Z:-1.59 [[ 9.99886322e-01 -1.47273758e-02 -3.23217247e-03 5.06975324e+00] [ 1.47169658e-02 9.99886511e-01 -3.22124332e-03 -3.48106759e-01] [ 3.27924612e-03 3.17330937e-03 9.99989588e-01 -1.58954860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24719347 meters Centerline goodness [0,1] 0.8386913288952558 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.35, Z:-1.59 [[ 9.99919752e-01 -1.22441646e-02 -3.25106723e-03 5.06967624e+00] [ 1.22432120e-02 9.99925000e-01 -3.12756074e-04 -3.47507168e-01] [ 3.25465284e-03 2.72927470e-04 9.99994666e-01 -1.58945246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27719347 meters Centerline goodness [0,1] 0.822009811145967 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.35, Z:-1.59 [[ 9.99950463e-01 -9.30823603e-03 -3.52544621e-03 5.07056953e+00] [ 9.31785637e-03 9.99952882e-01 2.72230656e-03 -3.46320945e-01] [ 3.49994023e-03 -2.75502130e-03 9.99990080e-01 -1.58998982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30719347 meters Centerline goodness [0,1] 0.8198901052808187 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.34, Z:-1.59 [[ 9.99962369e-01 -7.49173850e-03 -4.37434957e-03 5.07343843e+00] [ 7.50573605e-03 9.99966736e-01 3.19231633e-03 -3.38305209e-01] [ 4.35028806e-03 -3.22502891e-03 9.99985337e-01 -1.59180999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33719347 meters Centerline goodness [0,1] 0.831241576819407 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.33, Z:-1.59 [[ 9.99978793e-01 -4.54432008e-03 -4.66512169e-03 5.07435797e+00] [ 4.56994345e-03 9.99974451e-01 5.49665414e-03 -3.34137502e-01] [ 4.64002394e-03 -5.51785691e-03 9.99974011e-01 -1.59235944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36719347 meters Centerline goodness [0,1] 0.8512313409334257 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.32, Z:-1.59 [[ 9.99985476e-01 1.38680133e-03 -5.20819731e-03 5.07643499e+00] [-1.33762746e-03 9.99954611e-01 9.43327431e-03 -3.24243683e-01] [ 5.22104299e-03 -9.42617067e-03 9.99941942e-01 -1.59381341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39719347 meters Centerline goodness [0,1] 0.8675707596912304 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.32, Z:-1.59 [[ 9.99972484e-01 4.84318824e-03 -5.61912514e-03 5.07764802e+00] [-4.77685699e-03 9.99919456e-01 1.17585208e-02 -3.19606613e-01] [ 5.67562128e-03 -1.17313555e-02 9.99915078e-01 -1.59433174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42719347 meters Centerline goodness [0,1] 0.8779063661758837 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.31, Z:-1.59 [[ 0.99994802 0.00828877 -0.00593677 5.07828704] [-0.00820502 0.99986839 0.01399596 -0.31452344] [ 0.006052 -0.01394652 0.99988443 -1.59429562] [ 0. 0. 0. 1. ]] SLAMing on 126.45719346999999 meters Centerline goodness [0,1] 0.8887114734121898 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.31, Z:-1.59 [[ 0.99991414 0.01163113 -0.00603521 5.0780197 ] [-0.01153328 0.99980545 0.01600143 -0.30862559] [ 0.00622015 -0.01593045 0.99985375 -1.59349982] [ 0. 0. 0. 1. ]] SLAMing on 126.48719347 meters Centerline goodness [0,1] 0.893620159285323 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.30, Z:-1.59 [[ 0.99982222 0.01799415 -0.00563401 5.07595112] [-0.01787993 0.99964592 0.01970656 -0.29735273] [ 0.00598662 -0.01960232 0.99978993 -1.59083063] [ 0. 0. 0. 1. ]] SLAMing on 126.51719347 meters Centerline goodness [0,1] 0.8982511257723322 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.29, Z:-1.59 [[ 9.99785063e-01 2.06974403e-02 -1.20158280e-03 5.08514540e+00] [-2.06825722e-02 9.99722337e-01 1.12906899e-02 -2.90970043e-01] [ 1.43493755e-03 -1.12634113e-02 9.99935536e-01 -1.59236451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54719347 meters Centerline goodness [0,1] 0.9013047491189797 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.29, Z:-1.59 [[ 9.99781549e-01 2.08411626e-02 -1.58113850e-03 5.08585114e+00] [-2.08243363e-02 9.99733125e-01 1.00012667e-02 -2.86264211e-01] [ 1.78915456e-03 -9.96615575e-03 9.99948736e-01 -1.59217628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57719347 meters Centerline goodness [0,1] 0.90519434109016 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.28, Z:-1.59 [[ 9.99781230e-01 2.08221954e-02 -1.98181614e-03 5.08679139e+00] [-2.08040551e-02 9.99745092e-01 8.77166591e-03 -2.82019852e-01] [ 2.16395630e-03 -8.72851713e-03 9.99959564e-01 -1.59232042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60719347 meters Centerline goodness [0,1] 0.906437062642273 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.28, Z:-1.59 [[ 9.99733178e-01 2.29422522e-02 -2.68805794e-03 5.09004923e+00] [-2.29141054e-02 9.99686704e-01 1.00715917e-02 -2.77483760e-01] [ 2.91828078e-03 -1.00073099e-02 9.99945667e-01 -1.59472281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63719347 meters Centerline goodness [0,1] 0.9051460830366734 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.28, Z:-1.60 [[ 9.99741916e-01 2.25005138e-02 -3.13491849e-03 5.09154594e+00] [-2.24707220e-02 9.99704850e-01 9.23470692e-03 -2.75559297e-01] [ 3.34177887e-03 -9.16187971e-03 9.99952445e-01 -1.59562346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66719347 meters Centerline goodness [0,1] 0.9051460830366734 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.28, Z:-1.60 [[ 9.99741916e-01 2.25005138e-02 -3.13491849e-03 5.09154594e+00] [-2.24707220e-02 9.99704850e-01 9.23470692e-03 -2.75559297e-01] [ 3.34177887e-03 -9.16187971e-03 9.99952445e-01 -1.59562346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69719347 meters Centerline goodness [0,1] 0.9059248158389092 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.60 [[ 9.99814243e-01 1.89589612e-02 -3.46953551e-03 5.09231360e+00] [-1.89424800e-02 9.99809420e-01 4.72301906e-03 -2.72547395e-01] [ 3.55841782e-03 -4.65642012e-03 9.99982828e-01 -1.59587696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72719347 meters Centerline goodness [0,1] 0.9067132014380926 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.60 [[ 9.99812763e-01 1.89665306e-02 -3.83527307e-03 5.09341235e+00] [-1.89505855e-02 9.99811801e-01 4.15194447e-03 -2.70739958e-01] [ 3.91329926e-03 -4.07848640e-03 9.99984026e-01 -1.59632069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75719347 meters Centerline goodness [0,1] 0.9067606942274398 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.60 [[ 9.99811403e-01 1.89562278e-02 -4.22126457e-03 5.09431093e+00] [-1.89397370e-02 9.99812970e-01 3.91290128e-03 -2.70162942e-01] [ 4.29464891e-03 -3.83221368e-03 9.99983435e-01 -1.59650768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78719347 meters Centerline goodness [0,1] 0.9083282263688426 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.60 [[ 9.99867559e-01 1.55891296e-02 -4.67366475e-03 5.09499602e+00] [-1.55910401e-02 9.99878383e-01 -3.72624774e-04 -2.68254499e-01] [ 4.66728745e-03 4.45442718e-04 9.99989009e-01 -1.59627148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81719347 meters Centerline goodness [0,1] 0.9086586007364545 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.60 [[ 9.99868467e-01 1.54514318e-02 -4.92978085e-03 5.09517841e+00] [-1.54516516e-02 9.99880616e-01 -6.49463094e-06 -2.70462405e-01] [ 4.92909196e-03 8.26670329e-05 9.99987849e-01 -1.59580822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84719347 meters Centerline goodness [0,1] 0.9073663515435455 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.60 [[ 9.99870366e-01 1.52415365e-02 -5.19102350e-03 5.09555737e+00] [-1.52400329e-02 9.99883810e-01 3.29104279e-04 -2.72312133e-01] [ 5.19543641e-03 -2.49950247e-04 9.99986472e-01 -1.59563088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87719347 meters Centerline goodness [0,1] 0.9058445674681993 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.59 [[ 9.99898752e-01 1.33580824e-02 -4.90382130e-03 5.09364024e+00] [-1.33644354e-02 9.99909892e-01 -1.26503064e-03 -2.72865876e-01] [ 4.88648104e-03 1.33043937e-03 9.99987176e-01 -1.59394372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90719347 meters Centerline goodness [0,1] 0.8946471405125616 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.28, Z:-1.59 [[ 9.99946431e-01 8.89708736e-03 -5.28936758e-03 5.09419625e+00] [-8.92229995e-03 9.99948855e-01 -4.76232285e-03 -2.75256769e-01] [ 5.24672625e-03 4.80926106e-03 9.99974671e-01 -1.59381615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93719347 meters Centerline goodness [0,1] 0.8890485043096163 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.28, Z:-1.59 [[ 9.99972017e-01 5.09205666e-03 -5.48056948e-03 5.09459921e+00] [-5.13674011e-03 9.99953431e-01 -8.17010758e-03 -2.76919815e-01] [ 5.43871160e-03 8.19803121e-03 9.99951605e-01 -1.59394646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96719347 meters Centerline goodness [0,1] 0.8581195864180701 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.60 [[ 9.99995743e-01 -2.03142017e-03 -2.09466249e-03 5.10692276e+00] [ 2.02309931e-03 9.99990085e-01 -3.96690756e-03 -2.83522068e-01] [ 2.10270018e-03 3.96265296e-03 9.99989938e-01 -1.59780038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99719347 meters Centerline goodness [0,1] 0.845564143493237 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99994931e-01 -2.30109556e-03 -2.20046630e-03 5.10771764e+00] [ 2.29375239e-03 9.99991812e-01 -3.33381755e-03 -2.86539723e-01] [ 2.20811972e-03 3.32875333e-03 9.99992022e-01 -1.59864843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02719347 meters Centerline goodness [0,1] 0.8308575997306851 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99994047e-01 -2.45883788e-03 -2.42078633e-03 5.10836437e+00] [ 2.45216095e-03 9.99993192e-01 -2.75728229e-03 -2.89115838e-01] [ 2.42754956e-03 2.75132972e-03 9.99993269e-01 -1.59902499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05719347 meters Centerline goodness [0,1] 0.8211018842473549 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99993753e-01 -2.47875999e-03 -2.51968215e-03 5.10865287e+00] [ 2.47325343e-03 9.99994552e-01 -2.18619085e-03 -2.91350205e-01] [ 2.52508747e-03 2.17994538e-03 9.99994436e-01 -1.59917694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08719347 meters Centerline goodness [0,1] 0.8164675642079093 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99993669e-01 -2.31183764e-03 -2.70513658e-03 5.10866204e+00] [ 2.30784470e-03 9.99996244e-01 -1.47824771e-03 -2.93146506e-01] [ 2.70854389e-03 1.47199532e-03 9.99995248e-01 -1.59857689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11719347 meters Centerline goodness [0,1] 0.8135856339682805 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99993264e-01 -2.17037019e-03 -2.96005604e-03 5.10905257e+00] [ 2.16600912e-03 9.99996565e-01 -1.47571543e-03 -2.92225735e-01] [ 2.96324872e-03 1.46929398e-03 9.99994530e-01 -1.59833394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14719347 meters Centerline goodness [0,1] 0.8176961743117337 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99995734e-01 -7.24622522e-04 -2.82965577e-03 5.10758419e+00] [ 7.23789670e-04 9.99999694e-01 -2.95342787e-04 -2.91559810e-01] [ 2.82986892e-03 2.93293452e-04 9.99995953e-01 -1.59668556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17719347 meters Centerline goodness [0,1] 0.821191635875042 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99995311e-01 -2.90044752e-04 -3.04858991e-03 5.10817002e+00] [ 2.89309203e-04 9.99999929e-01 -2.41713350e-04 -2.90838078e-01] [ 3.04865981e-03 2.40830232e-04 9.99995324e-01 -1.59676963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20719346999999 meters Centerline goodness [0,1] 0.8323659305993691 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99994729e-01 5.58363567e-04 -3.19831321e-03 5.10887617e+00] [-5.57639923e-04 9.99999819e-01 2.27145504e-04 -2.92032548e-01] [ 3.19843946e-03 -2.25360799e-04 9.99994860e-01 -1.59723496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23719347 meters Centerline goodness [0,1] 0.8364934900771078 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99994315e-01 7.95465879e-04 -3.27662356e-03 5.10909924e+00] [-7.94697863e-04 9.99999656e-01 2.35687604e-04 -2.91888513e-01] [ 3.27680992e-03 -2.33082338e-04 9.99994604e-01 -1.59729282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26719347 meters Centerline goodness [0,1] 0.8478794619436342 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99993614e-01 1.12960653e-03 -3.39061123e-03 5.10962556e+00] [-1.12992843e-03 9.99999357e-01 -9.30246050e-05 -2.90053592e-01] [ 3.39050397e-03 9.68551590e-05 9.99994248e-01 -1.59754169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29719347 meters Centerline goodness [0,1] 0.8866016232810463 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.59 [[ 9.99963689e-01 8.03337033e-03 -2.84359980e-03 5.10686957e+00] [-8.01606312e-03 9.99949591e-01 6.04632710e-03 -2.86943760e-01] [ 2.89202884e-03 -6.02331307e-03 9.99977678e-01 -1.59495869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32719347 meters Centerline goodness [0,1] 0.8964771127870093 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.59 [[ 9.99956401e-01 8.91401708e-03 -2.78135139e-03 5.10665038e+00] [-8.89820502e-03 9.99944468e-01 5.64653287e-03 -2.83976648e-01] [ 2.83153022e-03 -5.62153766e-03 9.99980190e-01 -1.59449088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35719347 meters Centerline goodness [0,1] 0.9054224729507852 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.59 [[ 9.99949030e-01 9.71170969e-03 -2.76061527e-03 5.10658141e+00] [-9.69673796e-03 9.99938481e-01 5.38594538e-03 -2.81888232e-01] [ 2.81275217e-03 -5.35890189e-03 9.99981685e-01 -1.59421125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38719347 meters Centerline goodness [0,1] 0.9078488249884391 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.59 [[ 9.99940847e-01 1.04919531e-02 -2.86718725e-03 5.10705198e+00] [-1.04766330e-02 9.99931035e-01 5.30701872e-03 -2.80509243e-01] [ 2.92267051e-03 -5.27666633e-03 9.99981807e-01 -1.59443268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41719347 meters Centerline goodness [0,1] 0.9118592774730471 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.60 [[ 9.99877566e-01 1.54003459e-02 -2.77155953e-03 5.10770268e+00] [-1.53729040e-02 9.99835125e-01 9.66422478e-03 -2.80269262e-01] [ 2.91993497e-03 -9.62043463e-03 9.99949459e-01 -1.59530905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44719347 meters Centerline goodness [0,1] 0.9096213584081941 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.60 [[ 9.99868104e-01 1.59651306e-02 -2.98154533e-03 5.10871409e+00] [-1.59352715e-02 9.99825161e-01 9.78338244e-03 -2.79617789e-01] [ 3.13721702e-03 -9.73458032e-03 9.99947697e-01 -1.59609935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47719347 meters Centerline goodness [0,1] 0.9087343205940345 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.60 [[ 9.99856777e-01 1.66066357e-02 -3.26255254e-03 5.11020912e+00] [-1.65719809e-02 9.99808831e-01 1.03764368e-02 -2.80675718e-01] [ 3.43424654e-03 -1.03208837e-02 9.99940841e-01 -1.59738090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50719347 meters Centerline goodness [0,1] 0.908852197294345 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.60 [[ 9.99878653e-01 1.51045876e-02 -3.81203302e-03 5.11327717e+00] [-1.50709848e-02 9.99848621e-01 8.69484564e-03 -2.82268241e-01] [ 3.94278801e-03 -8.63633945e-03 9.99954933e-01 -1.60001650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53719347 meters Centerline goodness [0,1] 0.9087410087073571 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-1.60 [[ 9.99945129e-01 9.59150722e-03 -4.21213972e-03 5.11522168e+00] [-9.57691386e-03 9.99948115e-01 3.47120474e-03 -2.87450041e-01] [ 4.24521526e-03 -3.43067498e-03 9.99985104e-01 -1.60167551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56719347 meters Centerline goodness [0,1] 0.9056607744107744 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99973164e-01 6.00724218e-03 -4.19333378e-03 5.11484081e+00] [-6.00579568e-03 9.99981901e-01 3.57458466e-04 -2.90199621e-01] [ 4.19540523e-03 -3.32264567e-04 9.99991144e-01 -1.60120332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59719347 meters Centerline goodness [0,1] 0.9070002314473878 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-1.60 [[ 9.99987948e-01 2.59147876e-03 -4.16995098e-03 5.11417008e+00] [-2.60116242e-03 9.99993929e-01 -2.31850312e-03 -2.93796180e-01] [ 4.16391731e-03 2.32932190e-03 9.99988618e-01 -1.60025305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62719347 meters Centerline goodness [0,1] 0.9035250073612923 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.30, Z:-1.60 [[ 9.99982042e-01 -4.25235589e-03 -4.22300384e-03 5.11387581e+00] [ 4.22411353e-03 9.99968805e-01 -6.67429459e-03 -3.04585770e-01] [ 4.25125358e-03 6.65633628e-03 9.99968810e-01 -1.59961556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65719347 meters Centerline goodness [0,1] 0.9018003273322422 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.31, Z:-1.60 [[ 9.99959954e-01 -7.71042873e-03 -4.54310010e-03 5.11473093e+00] [ 7.66932769e-03 9.99930125e-01 -8.99592629e-03 -3.09601385e-01] [ 4.61214510e-03 8.96072351e-03 9.99949215e-01 -1.59988164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68719347 meters Centerline goodness [0,1] 0.896122758272291 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.32, Z:-1.60 [[ 9.99955658e-01 -8.11451622e-03 -4.77876938e-03 5.11522526e+00] [ 8.07759059e-03 9.99937758e-01 -7.69628053e-03 -3.15367550e-01] [ 4.84092353e-03 7.65733832e-03 9.99958964e-01 -1.59994467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71719347 meters Centerline goodness [0,1] 0.8931910055583628 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.32, Z:-1.60 [[ 9.99953739e-01 -8.15486016e-03 -5.10081717e-03 5.11611120e+00] [ 8.12282005e-03 9.99947347e-01 -6.27085767e-03 -3.20474593e-01] [ 5.15168657e-03 6.22913456e-03 9.99967328e-01 -1.60030941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74719347 meters Centerline goodness [0,1] 0.8853318178948033 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.33, Z:-1.60 [[ 0.99991974 -0.01137857 -0.00557125 5.11746066] [ 0.01133614 0.99990695 -0.00758886 -0.32846995] [ 0.00565708 0.0075251 0.99995568 -1.60085877] [ 0. 0. 0. 1. ]] SLAMing on 127.77719347 meters Centerline goodness [0,1] 0.8777801135169224 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.33, Z:-1.60 [[ 0.99992066 -0.0111413 -0.00587808 5.11835177] [ 0.01110427 0.99991852 -0.00629624 -0.33259294] [ 0.00594775 0.00623047 0.9999629 -1.6012177 ] [ 0. 0. 0. 1. ]] SLAMing on 127.80719347 meters Centerline goodness [0,1] 0.8760640539401602 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.34, Z:-1.60 [[ 9.99921796e-01 -1.08985478e-02 -6.13374212e-03 5.11897136e+00] [ 1.08671059e-02 9.99927760e-01 -5.13624724e-03 -3.36051096e-01] [ 6.18927665e-03 5.06918955e-03 9.99967998e-01 -1.60133648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83719347 meters Centerline goodness [0,1] 0.8661706141270173 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.34, Z:-1.60 [[ 0.99988187 -0.01374608 -0.0068767 5.12150784] [ 0.01369738 0.99988112 -0.00707997 -0.34036105] [ 0.00697321 0.00698494 0.99995129 -1.60265396] [ 0. 0. 0. 1. ]] SLAMing on 127.86719347 meters Centerline goodness [0,1] 0.8560736660639953 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.34, Z:-1.60 [[ 0.99987876 -0.01379235 -0.00722734 5.12238518] [ 0.01374621 0.99988506 -0.00639536 -0.34282925] [ 0.00731471 0.00629523 0.99995343 -1.60287294] [ 0. 0. 0. 1. ]] SLAMing on 127.89719347 meters Centerline goodness [0,1] 0.8546232299393122 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.34, Z:-1.60 [[ 0.99987502 -0.01388241 -0.00756519 5.12330715] [ 0.01383889 0.99988756 -0.00577455 -0.34499488] [ 0.0076445 0.00566914 0.99995471 -1.60320696] [ 0. 0. 0. 1. ]] SLAMing on 127.92719347 meters Centerline goodness [0,1] 0.8283371336526997 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.35, Z:-1.60 [[ 0.99980294 -0.01810414 -0.00814397 5.12483573] [ 0.01802582 0.99979153 -0.00958973 -0.34608502] [ 0.00831588 0.00944104 0.99992085 -1.60347909] [ 0. 0. 0. 1. ]] SLAMing on 127.95719346999999 meters Centerline goodness [0,1] 0.8321200227891372 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.35, Z:-1.60 [[ 0.99979754 -0.01836468 -0.0082229 5.12507716] [ 0.01828674 0.99978808 -0.00945499 -0.34696782] [ 0.00839479 0.00930271 0.99992149 -1.60349583] [ 0. 0. 0. 1. ]] SLAMing on 127.98719347 meters Centerline goodness [0,1] 0.8241118351902459 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.35, Z:-1.60 [[ 0.99978932 -0.01870323 -0.00845658 5.12555668] [ 0.01862283 0.99978157 -0.00948747 -0.34725706] [ 0.00863218 0.00932798 0.99991923 -1.60347584] [ 0. 0. 0. 1. ]] SLAMing on 128.01719347 meters Centerline goodness [0,1] 0.8133814640698456 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.35, Z:-1.60 [[ 0.99983613 -0.01588578 -0.00868054 5.12600413] [ 0.01583654 0.99985827 -0.00571269 -0.34873531] [ 0.00877006 0.00557428 0.99994601 -1.60350836] [ 0. 0. 0. 1. ]] SLAMing on 128.04719347 meters Centerline goodness [0,1] 0.8281220310355748 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.35, Z:-1.60 [[ 9.99874715e-01 -1.30683244e-02 -8.93158454e-03 5.12603887e+00] [ 1.30481099e-02 9.99912183e-01 -2.31779964e-03 -3.48504604e-01] [ 8.96108995e-03 2.20096896e-03 9.99957426e-01 -1.60277182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07719347 meters Centerline goodness [0,1] 0.794833144914793 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.35, Z:-1.60 [[ 0.99992219 -0.01096236 -0.00595243 5.13673552] [ 0.0109008 0.99988777 -0.01027714 -0.34702631] [ 0.00606442 0.01021145 0.99992947 -1.60461611] [ 0. 0. 0. 1. ]] SLAMing on 128.10719347 meters Centerline goodness [0,1] 0.8010227703186161 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.35, Z:-1.60 [[ 0.99995372 -0.00765415 -0.00582789 5.13603582] [ 0.00761682 0.99995051 -0.00639998 -0.34840411] [ 0.00587659 0.00635529 0.99996254 -1.60392217] [ 0. 0. 0. 1. ]] SLAMing on 128.13719347 meters Centerline goodness [0,1] 0.8356406480117821 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.35, Z:-1.60 [[ 9.99974914e-01 -4.07355378e-03 -5.79469254e-03 5.13563708e+00] [ 4.05973273e-03 9.99988891e-01 -2.39488777e-03 -3.49529874e-01] [ 5.80438388e-03 2.37130279e-03 9.99980343e-01 -1.60330506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16719347 meters Centerline goodness [0,1] 0.8439346323067254 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.35, Z:-1.60 [[ 9.99983669e-01 -8.95894114e-04 -5.64439305e-03 5.13441570e+00] [ 8.97638090e-04 9.99999550e-01 3.06449281e-04 -3.46393198e-01] [ 5.64411596e-03 -3.11510899e-04 9.99984023e-01 -1.60159492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19719347 meters Centerline goodness [0,1] 0.8489880318315683 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.34, Z:-1.60 [[ 9.99982641e-01 -7.67881868e-04 -5.84194889e-03 5.13453924e+00] [ 7.65479679e-04 9.99999622e-01 -4.13421444e-04 -3.43028694e-01] [ 5.84226414e-03 4.08942375e-04 9.99982850e-01 -1.60091487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22719347 meters Centerline goodness [0,1] 0.8634561026030461 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.34, Z:-1.60 [[ 9.99983219e-01 8.71200876e-04 -5.72742550e-03 5.13254024e+00] [-8.66414568e-04 9.99999273e-01 8.38110403e-04 -3.40440814e-01] [ 5.72815151e-03 -8.33134013e-04 9.99983247e-01 -1.59852647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25719347 meters Centerline goodness [0,1] 0.871935063296463 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.34, Z:-1.60 [[ 9.99979969e-01 1.29943937e-03 -6.19467959e-03 5.13305232e+00] [-1.30016136e-03 9.99999148e-01 -1.12523938e-04 -3.35319309e-01] [ 6.19452810e-03 1.20575767e-04 9.99980806e-01 -1.59763182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28719347 meters Centerline goodness [0,1] 0.8712362249520639 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.33, Z:-1.60 [[ 9.99979835e-01 1.20382203e-03 -6.23547827e-03 5.13302953e+00] [-1.20925635e-03 9.99998892e-01 -8.67819868e-04 -3.32725456e-01] [ 6.23442666e-03 8.75342660e-04 9.99980183e-01 -1.59732978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31719347 meters Centerline goodness [0,1] 0.8739012205147663 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.33, Z:-1.60 [[ 9.99980289e-01 9.62055873e-04 -6.20452367e-03 5.13314626e+00] [-9.71938794e-04 9.99998264e-01 -1.59003881e-03 -3.30450912e-01] [ 6.20298319e-03 1.59603789e-03 9.99979488e-01 -1.59740079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34719347 meters Centerline goodness [0,1] 0.8677794998533909 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.33, Z:-1.60 [[ 9.99979694e-01 5.72637145e-04 -6.34698308e-03 5.13382189e+00] [-5.87519708e-04 9.99997082e-01 -2.34320840e-03 -3.28091115e-01] [ 6.34562276e-03 2.34688980e-03 9.99977112e-01 -1.59778460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37719347 meters Centerline goodness [0,1] 0.8642534886160949 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.32, Z:-1.60 [[ 9.99979670e-01 -2.80252152e-04 -6.37028371e-03 5.13414029e+00] [ 2.56160790e-04 9.99992814e-01 -3.78233640e-03 -3.21839254e-01] [ 6.37129794e-03 3.78062769e-03 9.99972556e-01 -1.59784214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40719347 meters Centerline goodness [0,1] 0.8663883969980606 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.32, Z:-1.60 [[ 9.99981691e-01 1.02991328e-03 -5.96288112e-03 5.13233062e+00] [-1.04535831e-03 9.99996106e-01 -2.58765931e-03 -3.19098997e-01] [ 5.96019283e-03 2.59384528e-03 9.99978874e-01 -1.59646474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43719347 meters Centerline goodness [0,1] 0.8675993426320003 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.32, Z:-1.60 [[ 9.99981735e-01 7.33309915e-04 -5.99938274e-03 5.13271072e+00] [-7.53671885e-04 9.99993962e-01 -3.39245435e-03 -3.16384625e-01] [ 5.99685879e-03 3.39691396e-03 9.99976249e-01 -1.59670325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46719347 meters Centerline goodness [0,1] 0.8662445837364856 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.31, Z:-1.60 [[ 9.99979029e-01 7.62731195e-04 -6.43109715e-03 5.13539930e+00] [-7.87437846e-04 9.99992317e-01 -3.84009111e-03 -3.12965854e-01] [ 6.42811878e-03 3.84507467e-03 9.99971947e-01 -1.59882910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49719347 meters Centerline goodness [0,1] 0.8619927131815597 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.31, Z:-1.60 [[ 9.99978125e-01 2.86942565e-04 -6.60804673e-03 5.13617643e+00] [-3.19556708e-04 9.99987772e-01 -4.93499257e-03 -3.09502529e-01] [ 6.60654986e-03 4.93699627e-03 9.99965989e-01 -1.59933286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52719347 meters Centerline goodness [0,1] 0.8642717507830071 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.31, Z:-1.60 [[ 9.99973731e-01 1.60968994e-03 -7.06727213e-03 5.13846826e+00] [-1.63711298e-03 9.99991147e-01 -3.87621712e-03 -3.05811182e-01] [ 7.06097005e-03 3.88768522e-03 9.99967514e-01 -1.60097366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55719347 meters Centerline goodness [0,1] 0.8642717507830071 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.31, Z:-1.60 [[ 9.99973731e-01 1.60968994e-03 -7.06727213e-03 5.13846826e+00] [-1.63711298e-03 9.99991147e-01 -3.87621712e-03 -3.05811182e-01] [ 7.06097005e-03 3.88768522e-03 9.99967514e-01 -1.60097366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58719347 meters Centerline goodness [0,1] 0.8548866631523458 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.30, Z:-1.60 [[ 9.99965346e-01 4.18056943e-03 -7.19932149e-03 5.13886469e+00] [-4.19176794e-03 9.99990027e-01 -1.54110862e-03 -3.02523779e-01] [ 7.19280698e-03 1.57123310e-03 9.99972897e-01 -1.60107694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61719347 meters Centerline goodness [0,1] 0.8516383304333243 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.29, Z:-1.60 [[ 9.99953342e-01 6.15568296e-03 -7.44452195e-03 5.13967808e+00] [-6.16385643e-03 9.99980425e-01 -1.07547262e-03 -2.93777334e-01] [ 7.43775596e-03 1.12130940e-03 9.99971711e-01 -1.60098181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64719347 meters Centerline goodness [0,1] 0.8630998716627043 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.29, Z:-1.60 [[ 9.99955150e-01 5.85581667e-03 -7.44357955e-03 5.13955415e+00] [-5.87541021e-03 9.99979325e-01 -2.61313716e-03 -2.88684587e-01] [ 7.42812360e-03 2.65675405e-03 9.99968882e-01 -1.60055661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67719347 meters Centerline goodness [0,1] 0.8723829143193476 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.60 [[ 9.99956549e-01 5.66703124e-03 -7.40164278e-03 5.13950709e+00] [-5.69565405e-03 9.99976361e-01 -3.85175143e-03 -2.84461818e-01] [ 7.37963982e-03 3.89374126e-03 9.99965189e-01 -1.60022128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70719347 meters Centerline goodness [0,1] 0.8698724649801379 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.60 [[ 9.99942336e-01 7.79278785e-03 -7.38901454e-03 5.13975929e+00] [-7.81369276e-03 9.99965540e-01 -2.80455186e-03 -2.78126840e-01] [ 7.36690463e-03 2.86212563e-03 9.99968768e-01 -1.60003055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73719347 meters Centerline goodness [0,1] 0.8750315470682258 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.27, Z:-1.60 [[ 9.99936998e-01 8.66295567e-03 -7.13818863e-03 5.13827399e+00] [-8.67983448e-03 9.99959599e-01 -2.33700237e-03 -2.74529237e-01] [ 7.11765489e-03 2.39881343e-03 9.99971792e-01 -1.59866639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76719347 meters Centerline goodness [0,1] 0.8758123199226061 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.27, Z:-1.60 [[ 9.99941220e-01 8.11554983e-03 -7.18990126e-03 5.13845445e+00] [-8.14176628e-03 9.99960286e-01 -3.62455296e-03 -2.70298048e-01] [ 7.16020049e-03 3.68287841e-03 9.99967583e-01 -1.59850943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79719347 meters Centerline goodness [0,1] 0.8755074140288148 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.60 [[ 9.99924134e-01 1.01361028e-02 -6.99901211e-03 5.13787218e+00] [-1.01528233e-02 9.99945679e-01 -2.35759002e-03 -2.64260125e-01] [ 6.97473515e-03 2.42847089e-03 9.99972727e-01 -1.59772220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82719347 meters Centerline goodness [0,1] 0.8712246651715537 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.60 [[ 9.99921350e-01 1.01224132e-02 -7.40475202e-03 5.13911517e+00] [-1.01452213e-02 9.99943887e-01 -3.04914052e-03 -2.61233700e-01] [ 7.37347186e-03 3.12402356e-03 9.99967936e-01 -1.59816135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85719347 meters Centerline goodness [0,1] 0.8716709057658756 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.60 [[ 9.99923552e-01 9.74950113e-03 -7.60511451e-03 5.13985433e+00] [-9.78101051e-03 9.99943689e-01 -4.11704949e-03 -2.58210431e-01] [ 7.56454708e-03 4.19112046e-03 9.99962605e-01 -1.59852294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88719347 meters Centerline goodness [0,1] 0.8779683934758725 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.60 [[ 9.99924417e-01 9.44843884e-03 -7.86688025e-03 5.14097076e+00] [-9.48888291e-03 9.99941873e-01 -5.11970133e-03 -2.55195049e-01] [ 7.81804979e-03 5.19396227e-03 9.99955949e-01 -1.59931284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91719347 meters Centerline goodness [0,1] 0.8682776393054793 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.25, Z:-1.60 [[ 0.99992338 0.00931546 -0.00815188 5.14259593] [-0.00936402 0.99993852 -0.00593918 -0.25205091] [ 0.00809605 0.00601506 0.99994914 -1.60063724] [ 0. 0. 0. 1. ]] SLAMing on 128.94719347 meters Centerline goodness [0,1] 0.8623736052086168 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.60 [[ 9.99894620e-01 1.14574508e-02 -8.91490445e-03 5.14756364e+00] [-1.14961528e-02 9.99924662e-01 -4.30220651e-03 -2.47440726e-01] [ 8.86494049e-03 4.40424025e-03 9.99951007e-01 -1.60476858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97719347 meters Centerline goodness [0,1] 0.8738865842616185 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.60 [[ 0.99989841 0.01110739 -0.00893228 5.14733978] [-0.01115566 0.99992334 -0.00537184 -0.24393549] [ 0.00887193 0.00547094 0.99994568 -1.60423719] [ 0. 0. 0. 1. ]] SLAMing on 129.00719347 meters Centerline goodness [0,1] 0.8849101619407554 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.60 [[ 0.99990661 0.01036417 -0.00890865 5.14655687] [-0.01042527 0.99992226 -0.0068403 -0.24024212] [ 0.00883706 0.00693254 0.99993692 -1.60296316] [ 0. 0. 0. 1. ]] SLAMing on 129.03719347 meters Centerline goodness [0,1] 0.8874826556784258 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.60 [[ 9.99953199e-01 9.09745204e-03 -3.29192233e-03 5.15306024e+00] [-9.09315527e-03 9.99957788e-01 1.31786755e-03 -2.35991234e-01] [ 3.30377261e-03 -1.28787191e-03 9.99993713e-01 -1.60262102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06719347 meters Centerline goodness [0,1] 0.886170145676988 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.23, Z:-1.60 [[ 9.99954803e-01 8.86252641e-03 -3.44216300e-03 5.15314169e+00] [-8.86177812e-03 9.99960707e-01 2.32580245e-04 -2.32917072e-01] [ 3.44408900e-03 -2.02066049e-04 9.99994049e-01 -1.60212797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09719347 meters Centerline goodness [0,1] 0.8914595230097413 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.23, Z:-1.60 [[ 9.99956021e-01 8.60176234e-03 -3.73717573e-03 5.15392829e+00] [-8.60460086e-03 9.99962703e-01 -7.44124153e-04 -2.30172907e-01] [ 3.73063556e-03 7.76248332e-04 9.99992740e-01 -1.60228306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12719347 meters Centerline goodness [0,1] 0.8882104865613395 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.22, Z:-1.60 [[ 9.99959459e-01 8.21475636e-03 -3.68766832e-03 5.15446353e+00] [-8.22409202e-03 9.99962997e-01 -2.52360409e-03 -2.23689802e-01] [ 3.66680108e-03 2.55382950e-03 9.99990016e-01 -1.60260976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15719347 meters Centerline goodness [0,1] 0.8931920183737542 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.22, Z:-1.60 [[ 9.99962870e-01 7.80356475e-03 -3.65560934e-03 5.15433992e+00] [-7.81723543e-03 9.99962449e-01 -3.74040216e-03 -2.20010269e-01] [ 3.62628360e-03 3.76884004e-03 9.99986323e-01 -1.60231152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18719347 meters Centerline goodness [0,1] 0.896169926676051 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.22, Z:-1.60 [[ 9.99962456e-01 7.73957048e-03 -3.89682314e-03 5.15488111e+00] [-7.75665058e-03 9.99960293e-01 -4.38721636e-03 -2.17841890e-01] [ 3.86271324e-03 4.41727795e-03 9.99982783e-01 -1.60227391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21719347 meters Centerline goodness [0,1] 0.8778816854050646 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.22, Z:-1.60 [[ 9.99964447e-01 7.50888890e-03 -3.83691157e-03 5.15465506e+00] [-7.52796631e-03 9.99959254e-01 -4.98206306e-03 -2.16762704e-01] [ 3.79934548e-03 5.01077007e-03 9.99980228e-01 -1.60197425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24719347 meters Centerline goodness [0,1] 0.896545938804186 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.21, Z:-1.60 [[ 9.99963597e-01 7.73088722e-03 -3.61075750e-03 5.15471257e+00] [-7.75070162e-03 9.99954803e-01 -5.50623046e-03 -2.14829382e-01] [ 3.56802626e-03 5.53401592e-03 9.99978322e-01 -1.60212764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27719347 meters Centerline goodness [0,1] 0.8971720214190093 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.21, Z:-1.60 [[ 9.99960286e-01 8.05185245e-03 -3.82034652e-03 5.15526925e+00] [-8.07304617e-03 9.99951927e-01 -5.56498620e-03 -2.13156562e-01] [ 3.77535442e-03 5.59560703e-03 9.99977218e-01 -1.60213218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30719347 meters Centerline goodness [0,1] 0.896741181898251 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.21, Z:-1.60 [[ 9.99960540e-01 8.00083069e-03 -3.86072647e-03 5.15518384e+00] [-8.02367697e-03 9.99950174e-01 -5.93886172e-03 -2.11534069e-01] [ 3.81301828e-03 5.96960460e-03 9.99974912e-01 -1.60172786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33719347 meters Centerline goodness [0,1] 0.8920399272511949 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.21, Z:-1.60 [[ 9.99958369e-01 8.28316152e-03 -3.82745393e-03 5.15522102e+00] [-8.30494928e-03 9.99949199e-01 -5.71210268e-03 -2.11365752e-01] [ 3.77994522e-03 5.74365169e-03 9.99976361e-01 -1.60164186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36719347 meters Centerline goodness [0,1] 0.8936272561855563 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.21, Z:-1.61 [[ 9.99990564e-01 4.32550607e-03 -4.03569072e-04 5.16732025e+00] [-4.32552116e-03 9.99990644e-01 -3.65341745e-05 -2.12904482e-01] [ 4.03407268e-04 3.82794763e-05 9.99999918e-01 -1.60512324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39719347 meters Centerline goodness [0,1] 0.8931823414899629 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.21, Z:-1.61 [[ 9.99991228e-01 4.15542355e-03 -5.26132425e-04 5.16764309e+00] [-4.15527072e-03 9.99991324e-01 2.91248014e-04 -2.14984974e-01] [ 5.27338120e-04 -2.89059236e-04 9.99999819e-01 -1.60531950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42719347 meters Centerline goodness [0,1] 0.8907904769973736 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99992293e-01 3.90090267e-03 -4.44560617e-04 5.16765334e+00] [-3.90062320e-03 9.99992195e-01 6.27773545e-04 -2.17095630e-01] [ 4.47006031e-04 -6.26034643e-04 9.99999704e-01 -1.60562297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45719347 meters Centerline goodness [0,1] 0.8907596670529976 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99999474e-01 6.15186215e-04 -8.20929500e-04 5.17012196e+00] [-6.16772155e-04 9.99997941e-01 -1.93302977e-03 -2.18463545e-01] [ 8.19738637e-04 1.93353508e-03 9.99997795e-01 -1.60790090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48719347 meters Centerline goodness [0,1] 0.8877709955798779 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99999318e-01 3.71705738e-04 -1.10752576e-03 5.17126329e+00] [-3.73436315e-04 9.99998709e-01 -1.56276510e-03 -2.19812135e-01] [ 1.10694344e-03 1.56317763e-03 9.99998166e-01 -1.60886206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51719347 meters Centerline goodness [0,1] 0.8812006585890995 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99999308e-01 6.52871171e-05 -1.17432282e-03 5.17171998e+00] [-6.68623386e-05 9.99999098e-01 -1.34139793e-03 -2.21363602e-01] [ 1.17423419e-03 1.34147552e-03 9.99998411e-01 -1.60942155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54719347 meters Centerline goodness [0,1] 0.8724395178285426 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99998955e-01 5.37630341e-05 -1.44455265e-03 5.17268100e+00] [-5.49543925e-05 9.99999658e-01 -8.24697769e-04 -2.23310218e-01] [ 1.44450781e-03 8.24776292e-04 9.99998617e-01 -1.61015361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57719347 meters Centerline goodness [0,1] 0.8721386113570254 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99998817e-01 -1.18198272e-05 -1.53806470e-03 5.17352135e+00] [ 1.05637496e-05 9.99999666e-01 -8.16666617e-04 -2.23498943e-01] [ 1.53807384e-03 8.16649403e-04 9.99998484e-01 -1.61101769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60719347 meters Centerline goodness [0,1] 0.8832096671613313 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99998404e-01 1.06735999e-04 -1.78356433e-03 5.17458747e+00] [-1.08645228e-04 9.99999421e-01 -1.07039441e-03 -2.22229008e-01] [ 1.78344904e-03 1.07058648e-03 9.99997837e-01 -1.61186214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63719347 meters Centerline goodness [0,1] 0.8827726809378186 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.22, Z:-1.61 [[ 9.99997590e-01 2.77333703e-04 -2.17799392e-03 5.17600324e+00] [-2.80357543e-04 9.99998997e-01 -1.38817755e-03 -2.20559341e-01] [ 2.17760675e-03 1.38878483e-03 9.99996665e-01 -1.61282509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66719347 meters Centerline goodness [0,1] 0.8829999152326863 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.22, Z:-1.61 [[ 9.99996760e-01 7.75948126e-04 -2.42461833e-03 5.17712668e+00] [-7.80133578e-04 9.99998207e-01 -1.72576267e-03 -2.16709594e-01] [ 2.42327488e-03 1.72764860e-03 9.99995571e-01 -1.61339069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69719347 meters Centerline goodness [0,1] 0.8855584679124038 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.22, Z:-1.61 [[ 9.99996356e-01 6.85847031e-04 -2.61107042e-03 5.17706781e+00] [-6.91391951e-04 9.99997507e-01 -2.12330955e-03 -2.15372247e-01] [ 2.60960765e-03 2.12510708e-03 9.99994337e-01 -1.61260592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72719347 meters Centerline goodness [0,1] 0.8709146186977451 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-1.61 [[ 9.99996346e-01 4.23391397e-04 -2.66990444e-03 5.17658092e+00] [-4.29840492e-04 9.99996991e-01 -2.41536690e-03 -2.14894123e-01] [ 2.66887376e-03 2.41650570e-03 9.99993519e-01 -1.61156949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75719347 meters Centerline goodness [0,1] 0.8771489442487397 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.22, Z:-1.61 [[ 9.99996543e-01 4.02459058e-06 -2.62945482e-03 5.17598945e+00] [-1.09704990e-05 9.99996511e-01 -2.64156830e-03 -2.15002428e-01] [ 2.62943501e-03 2.64158801e-03 9.99993054e-01 -1.61079149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78719347 meters Centerline goodness [0,1] 0.8499356445044627 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.21, Z:-1.61 [[ 9.99986070e-01 -4.91552105e-03 -1.92284371e-03 5.17406502e+00] [ 4.90124350e-03 9.99960898e-01 -7.36077426e-03 -2.14252547e-01] [ 1.95895057e-03 7.35124740e-03 9.99971060e-01 -1.60940529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81719347 meters Centerline goodness [0,1] 0.8526377961060603 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99982492e-01 -5.58736804e-03 -1.94883345e-03 5.17399624e+00] [ 5.57288434e-03 9.99957387e-01 -7.35987713e-03 -2.15203374e-01] [ 1.98987275e-03 7.34888765e-03 9.99971017e-01 -1.60926225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84719347 meters Centerline goodness [0,1] 0.8295982997706374 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-1.61 [[ 9.99978844e-01 -6.18188794e-03 -2.02390496e-03 5.17431876e+00] [ 6.16661253e-03 9.99953095e-01 -7.46868492e-03 -2.15588304e-01] [ 2.06998060e-03 7.45604627e-03 9.99970061e-01 -1.60953750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87719347 meters Centerline goodness [0,1] 0.7890741323267275 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-1.61 [[ 9.99971662e-01 -7.19263135e-03 -2.22269288e-03 5.17531529e+00] [ 7.17364586e-03 9.99938695e-01 -8.43473499e-03 -2.12964980e-01] [ 2.28322456e-03 8.41855116e-03 9.99961957e-01 -1.61036222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90719347 meters Centerline goodness [0,1] 0.7404732410926116 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-1.61 [[ 9.99990318e-01 -3.81328195e-03 -2.19600666e-03 5.17566985e+00] [ 3.80320941e-03 9.99982312e-01 -4.57280381e-03 -2.13383014e-01] [ 2.21340521e-03 4.56440766e-03 9.99987133e-01 -1.61110285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93719347 meters Centerline goodness [0,1] 0.776789478121575 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-1.61 [[ 9.99989758e-01 -3.91556437e-03 -2.26974216e-03 5.17605905e+00] [ 3.90432710e-03 9.99980204e-01 -4.93436549e-03 -2.12280773e-01] [ 2.28901805e-03 4.92545314e-03 9.99985250e-01 -1.61142297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96719347 meters Centerline goodness [0,1] 0.7618588467101264 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-1.61 [[ 9.99988666e-01 -4.03213453e-03 -2.53171152e-03 5.17703776e+00] [ 4.01871823e-03 9.99977974e-01 -5.28221149e-03 -2.11148443e-01] [ 2.55295435e-03 5.27197738e-03 9.99982844e-01 -1.61207241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99719347 meters Centerline goodness [0,1] 0.7630050531524543 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-1.61 [[ 9.99990997e-01 -3.07250636e-03 -2.92661484e-03 5.17966931e+00] [ 3.05945725e-03 9.99985406e-01 -4.45286025e-03 -2.07223679e-01] [ 2.94025357e-03 4.44386631e-03 9.99985803e-01 -1.61452399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02719347 meters Centerline goodness [0,1] 0.7613657840028558 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-1.62 [[ 9.99996080e-01 -1.68362008e-04 -2.79486169e-03 5.17973518e+00] [ 1.64695201e-04 9.99999126e-01 -1.31215983e-03 -2.06061263e-01] [ 2.79508016e-03 1.31169439e-03 9.99995233e-01 -1.61507752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05719347 meters Centerline goodness [0,1] 0.7382951921058156 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.20, Z:-1.62 [[ 9.99995570e-01 -4.25682812e-04 -2.94613405e-03 5.18043479e+00] [ 4.19315172e-04 9.99997576e-01 -2.16163465e-03 -2.02853186e-01] [ 2.94704708e-03 2.16038971e-03 9.99993324e-01 -1.61556306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08719347 meters Centerline goodness [0,1] 0.7664644166350651 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.20, Z:-1.62 [[ 9.99994221e-01 1.67036954e-03 -2.96110991e-03 5.18085882e+00] [-1.67335907e-03 9.99998092e-01 -1.00740905e-03 -1.96126434e-01] [ 2.95942152e-03 1.01235823e-03 9.99995108e-01 -1.61593697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11719347 meters Centerline goodness [0,1] 0.7645409070930744 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.19, Z:-1.62 [[ 9.99989670e-01 2.73971698e-03 -3.62669525e-03 5.18381821e+00] [-2.74237257e-03 9.99995975e-01 -7.27465153e-04 -1.92548261e-01] [ 3.62468760e-03 7.37403389e-04 9.99993159e-01 -1.61789604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14719347 meters Centerline goodness [0,1] 0.7698362587868839 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.19, Z:-1.62 [[ 9.99981998e-01 4.35906509e-03 -4.12338782e-03 5.18670050e+00] [-4.35931877e-03 9.99990497e-01 -5.25371840e-05 -1.88620668e-01] [ 4.12311962e-03 7.05114002e-05 9.99991497e-01 -1.62020766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17719347 meters Centerline goodness [0,1] 0.8571127547042586 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.18, Z:-1.62 [[ 9.99914960e-01 1.20620748e-02 -4.95771300e-03 5.19167463e+00] [-1.20353187e-02 9.99913036e-01 5.39172990e-03 -1.80866330e-01] [ 5.02231731e-03 -5.33160373e-03 9.99973175e-01 -1.62441152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20719347 meters Centerline goodness [0,1] 0.8685176253486275 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.18, Z:-1.63 [[ 9.99862045e-01 1.58060496e-02 -5.10496066e-03 5.19280834e+00] [-1.57655971e-02 9.99844746e-01 7.86951147e-03 -1.75808445e-01] [ 5.22855398e-03 -7.78794307e-03 9.99956004e-01 -1.62517320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23719347 meters Centerline goodness [0,1] 0.8790222837138125 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.17, Z:-1.62 [[ 9.99796197e-01 1.95093515e-02 -5.19125871e-03 5.19305165e+00] [-1.94551153e-02 9.99757668e-01 1.03006716e-02 -1.70687944e-01] [ 5.39096012e-03 -1.01975758e-02 9.99933471e-01 -1.62488747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26719347 meters Centerline goodness [0,1] 0.8771057951482479 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.17, Z:-1.62 [[ 9.99720651e-01 2.30640849e-02 -5.16411814e-03 5.19305672e+00] [-2.29965888e-02 9.99653997e-01 1.27688727e-02 -1.66242423e-01] [ 5.45683370e-03 -1.26465486e-02 9.99905139e-01 -1.62458292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29719347 meters Centerline goodness [0,1] 0.8754180602006689 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-1.62 [[ 9.99667418e-01 2.57880561e-02 1.69900827e-04 5.20042939e+00] [-2.57885852e-02 9.99654691e-01 5.04461868e-03 -1.58053961e-01] [-3.97512490e-05 -5.04732243e-03 9.99987261e-01 -1.62488189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32719347 meters Centerline goodness [0,1] 0.8737363144427199 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.15, Z:-1.62 [[ 9.99756002e-01 2.20892660e-02 4.22708856e-05 5.20045493e+00] [-2.20892733e-02 9.99755986e-01 1.79869801e-04 -1.54572542e-01] [-3.82873790e-05 -1.80759647e-04 9.99999983e-01 -1.62432983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35719347 meters Centerline goodness [0,1] 0.8736421290579148 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.15, Z:-1.63 [[ 9.99807623e-01 1.96089480e-02 -4.53677711e-04 5.20221879e+00] [-1.96101173e-02 9.99803962e-01 -2.73511722e-03 -1.52550002e-01] [ 3.99956002e-04 2.74348772e-03 9.99996157e-01 -1.62527668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38719347 meters Centerline goodness [0,1] 0.8774899564780716 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.15, Z:-1.62 [[ 9.99818106e-01 1.90665596e-02 -4.70479283e-04 5.20195310e+00] [-1.90679797e-02 9.99812987e-01 -3.22530276e-03 -1.52010708e-01] [ 4.08895870e-04 3.23368719e-03 9.99994688e-01 -1.62482687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41719347 meters Centerline goodness [0,1] 0.8741639675261852 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.15, Z:-1.62 [[ 9.99819592e-01 1.89795110e-02 -7.49456763e-04 5.20257725e+00] [-1.89820114e-02 9.99813757e-01 -3.48343209e-03 -1.50907409e-01] [ 6.83203344e-04 3.49702985e-03 9.99993652e-01 -1.62493647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44719347 meters Centerline goodness [0,1] 0.8796726526853363 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99795181e-01 2.01814632e-02 -1.51831390e-03 5.20549449e+00] [-2.01851352e-02 9.99793274e-01 -2.44332858e-03 -1.50267714e-01] [ 1.46869008e-03 2.47347551e-03 9.99995862e-01 -1.62670134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47719347 meters Centerline goodness [0,1] 0.8796726526853363 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99795181e-01 2.01814632e-02 -1.51831390e-03 5.20549449e+00] [-2.01851352e-02 9.99793274e-01 -2.44332858e-03 -1.50267714e-01] [ 1.46869008e-03 2.47347551e-03 9.99995862e-01 -1.62670134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50719347 meters Centerline goodness [0,1] 0.8729136962173949 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99784079e-01 2.06817646e-02 -2.01478494e-03 5.20709101e+00] [-2.06866750e-02 9.99783012e-01 -2.44761979e-03 -1.48916182e-01] [ 1.96372666e-03 2.48877050e-03 9.99994975e-01 -1.62745994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53719347 meters Centerline goodness [0,1] 0.8681500744500137 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99721519e-01 2.34475229e-02 -2.66434174e-03 5.21020070e+00] [-2.34492285e-02 9.99724843e-01 -6.10715004e-04 -1.49872524e-01] [ 2.64928887e-03 6.73021689e-04 9.99996264e-01 -1.62943271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56719347 meters Centerline goodness [0,1] 0.8632611808304557 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99706045e-01 2.40609929e-02 -2.98188661e-03 5.21123653e+00] [-2.40615300e-02 9.99710469e-01 -1.44392749e-04 -1.51022554e-01] [ 2.97754902e-03 2.16099058e-04 9.99995544e-01 -1.63001684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59719347 meters Centerline goodness [0,1] 0.8603613978517138 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99690551e-01 2.46671646e-02 -3.21463568e-03 5.21194881e+00] [-2.46658272e-02 9.99695649e-01 4.55015434e-04 -1.52506485e-01] [ 3.22488125e-03 -3.75582982e-04 9.99994730e-01 -1.63036161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62719347 meters Centerline goodness [0,1] 0.8609633507853403 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99754171e-01 2.19123450e-02 -3.38328628e-03 5.21222391e+00] [-2.19227584e-02 9.99754947e-01 -3.07210726e-03 -1.51342330e-01] [ 3.31514012e-03 3.14552301e-03 9.99989558e-01 -1.63012993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65719347 meters Centerline goodness [0,1] 0.8593736917022523 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99749106e-01 2.21282666e-02 -3.47331684e-03 5.21200698e+00] [-2.21380524e-02 9.99750989e-01 -2.80470834e-03 -1.51358974e-01] [ 3.41038861e-03 2.88089713e-03 9.99990035e-01 -1.62937231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68719347 meters Centerline goodness [0,1] 0.8597727750894172 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-1.63 [[ 9.99746392e-01 2.22059970e-02 -3.74769206e-03 5.21266447e+00] [-2.22159679e-02 9.99749709e-01 -2.64021555e-03 -1.51908587e-01] [ 3.68812542e-03 2.72280458e-03 9.99989492e-01 -1.62959404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71719347 meters Centerline goodness [0,1] 0.8585256731894966 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.15, Z:-1.63 [[ 9.99750886e-01 2.18629920e-02 -4.49173690e-03 5.21653215e+00] [-2.18765081e-02 9.99756232e-01 -2.98233988e-03 -1.52534420e-01] [ 4.42543908e-03 3.07986046e-03 9.99985465e-01 -1.63262655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74719347 meters Centerline goodness [0,1] 0.8577293109618744 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.15, Z:-1.63 [[ 9.99740933e-01 2.22520547e-02 -4.78675260e-03 5.21770583e+00] [-2.22641257e-02 9.99749039e-01 -2.48341199e-03 -1.53993564e-01] [ 4.73029030e-03 2.58934148e-03 9.99985460e-01 -1.63356938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77719347 meters Centerline goodness [0,1] 0.8576372865712967 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.16, Z:-1.64 [[ 9.99740237e-01 2.20973207e-02 -5.58265658e-03 5.22254696e+00] [-2.21137948e-02 9.99751235e-01 -2.90663257e-03 -1.56624383e-01] [ 5.51703902e-03 3.02933126e-03 9.99980193e-01 -1.63764420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80719347 meters Centerline goodness [0,1] 0.8584973091153717 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.16, Z:-1.64 [[ 9.99728570e-01 2.25542129e-02 -5.83897740e-03 5.22343976e+00] [-2.25689776e-02 9.99742224e-01 -2.47521111e-03 -1.57704835e-01] [ 5.78164581e-03 2.60631901e-03 9.99979890e-01 -1.63817178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83719347 meters Centerline goodness [0,1] 0.859253499222395 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.16, Z:-1.64 [[ 9.99715435e-01 2.30571639e-02 -6.11689477e-03 5.22410221e+00] [-2.30692271e-02 9.99732047e-01 -1.90892287e-03 -1.58804892e-01] [ 6.07124138e-03 2.04949169e-03 9.99979470e-01 -1.63832150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86719347 meters Centerline goodness [0,1] 0.8596015634850587 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.16, Z:-1.64 [[ 9.99693274e-01 2.39462532e-02 -6.31933037e-03 5.22433694e+00] [-2.39487428e-02 9.99713137e-01 -3.18578131e-04 -1.62986485e-01] [ 6.30988883e-03 4.69820433e-04 9.99979982e-01 -1.63805012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89719347 meters Centerline goodness [0,1] 0.8593795666151727 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.17, Z:-1.64 [[ 9.99677446e-01 2.45235037e-02 -6.60311636e-03 5.22494082e+00] [-2.45183781e-02 9.99699013e-01 8.56077468e-04 -1.66145062e-01] [ 6.62212292e-03 -6.93903633e-04 9.99977833e-01 -1.63815679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92719347 meters Centerline goodness [0,1] 0.8618303106107984 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.17, Z:-1.64 [[ 9.99738643e-01 2.17535487e-02 -7.03057059e-03 5.22554997e+00] [-2.17680475e-02 9.99761063e-01 -1.99234334e-03 -1.68055969e-01] [ 6.98555018e-03 2.14486443e-03 9.99973300e-01 -1.63791393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95719347 meters Centerline goodness [0,1] 0.8588156293280732 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.18, Z:-1.64 [[ 9.99773930e-01 2.00902957e-02 -6.96198441e-03 5.22423903e+00] [-2.01088526e-02 9.99794401e-01 -2.60578640e-03 -1.76594831e-01] [ 6.90820202e-03 2.74519483e-03 9.99972370e-01 -1.63660061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98719347 meters Centerline goodness [0,1] 0.8574293832525489 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.18, Z:-1.64 [[ 9.99761573e-01 2.06609566e-02 -7.06556378e-03 5.22452416e+00] [-2.06683342e-02 9.99785914e-01 -9.72729188e-04 -1.82046054e-01] [ 7.04395362e-03 1.11853070e-03 9.99974565e-01 -1.63682220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01719347 meters Centerline goodness [0,1] 0.8559371727748691 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.19, Z:-1.64 [[ 9.99816709e-01 1.77333342e-02 -7.21648486e-03 5.22486188e+00] [-1.77591091e-02 9.99836086e-01 -3.52340162e-03 -1.85523776e-01] [ 7.15282032e-03 3.65091416e-03 9.99967753e-01 -1.63699616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04719347 meters Centerline goodness [0,1] 0.8570048512086019 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.19, Z:-1.64 [[ 0.99985542 0.01520525 -0.00761166 5.22603759] [-0.01524784 0.99986823 -0.00556964 -0.18957349] [ 0.00752597 0.0056849 0.99995552 -1.63767216] [ 0. 0. 0. 1. ]] SLAMing on 131.07719347 meters Centerline goodness [0,1] 0.8532212062746414 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.20, Z:-1.64 [[ 9.99854663e-01 1.47866645e-02 -8.48571273e-03 5.22890377e+00] [-1.48254342e-02 9.99879862e-01 -4.52424519e-03 -2.00656477e-01] [ 8.41779478e-03 4.64939202e-03 9.99953761e-01 -1.63937509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10719347 meters Centerline goodness [0,1] 0.8531882517249286 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.21, Z:-1.64 [[ 9.99914942e-01 1.08547595e-02 -7.23071589e-03 5.23862958e+00] [-1.08339970e-02 9.99937092e-01 2.90444427e-03 -2.06051043e-01] [ 7.26178807e-03 -2.82585967e-03 9.99969640e-01 -1.64006836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13719347 meters Centerline goodness [0,1] 0.8515703728585825 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.21, Z:-1.64 [[ 9.99903392e-01 1.17924653e-02 -7.35835466e-03 5.23898069e+00] [-1.17582639e-02 9.99919945e-01 4.67404633e-03 -2.11259694e-01] [ 7.41288411e-03 -4.58707330e-03 9.99962003e-01 -1.64022010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16719347 meters Centerline goodness [0,1] 0.8548265775177601 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.22, Z:-1.64 [[ 0.99986438 0.01450549 -0.00779839 5.24102337] [-0.01444042 0.99986098 0.00833681 -0.22124227] [ 0.00791823 -0.00822307 0.99993484 -1.64150149] [ 0. 0. 0. 1. ]] SLAMing on 131.19719347 meters Centerline goodness [0,1] 0.854651772053738 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.22, Z:-1.64 [[ 0.99988647 0.01263929 -0.00820393 5.24265232] [-0.01258535 0.99989906 0.00659366 -0.22498908] [ 0.00828644 -0.00648966 0.99994461 -1.64254043] [ 0. 0. 0. 1. ]] SLAMing on 131.22719347 meters Centerline goodness [0,1] 0.8550636749545178 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.23, Z:-1.64 [[ 9.99909464e-01 1.03231791e-02 -8.63106501e-03 5.24424038e+00] [-1.02832358e-02 9.99936270e-01 4.65949508e-03 -2.29481733e-01] [ 8.67861576e-03 -4.57031795e-03 9.99951896e-01 -1.64351663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25719347 meters Centerline goodness [0,1] 0.8529953145917002 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.24, Z:-1.65 [[ 9.99942485e-01 5.99541067e-03 -8.89276731e-03 5.24587615e+00] [-5.97635241e-03 9.99979791e-01 2.16814716e-03 -2.42844201e-01] [ 8.90558653e-03 -2.11487615e-03 9.99958108e-01 -1.64501199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28719347 meters Centerline goodness [0,1] 0.8534789339358186 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.25, Z:-1.65 [[ 9.99954967e-01 2.93592693e-03 -9.02466288e-03 5.24642124e+00] [-2.93270047e-03 9.99995631e-01 3.70729485e-04 -2.49152671e-01] [ 9.02571189e-03 -3.44246157e-04 9.99959208e-01 -1.64539953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31719347 meters Centerline goodness [0,1] 0.8522627370536275 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.26, Z:-1.65 [[ 9.99958041e-01 -1.66912598e-04 -9.15907388e-03 5.24704956e+00] [ 1.56117105e-04 9.99999292e-01 -1.17936868e-03 -2.55628028e-01] [ 9.15926425e-03 1.17788931e-03 9.99957359e-01 -1.64589467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34719347 meters Centerline goodness [0,1] 0.8475403285170463 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.27, Z:-1.65 [[ 9.99922514e-01 -7.94683296e-03 -9.58200168e-03 5.24772441e+00] [ 7.93379131e-03 9.99967549e-01 -1.39830157e-03 -2.71499243e-01] [ 9.59280280e-03 1.32217162e-03 9.99953114e-01 -1.64598959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37719347 meters Centerline goodness [0,1] 0.8482351957176313 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.28, Z:-1.65 [[ 9.99890108e-01 -1.10483864e-02 -9.88456095e-03 5.24921142e+00] [ 1.10216769e-02 9.99935471e-01 -2.75255626e-03 -2.79899472e-01] [ 9.91433441e-03 2.64330934e-03 9.99947358e-01 -1.64702362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40719347 meters Centerline goodness [0,1] 0.8474064126238039 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.29, Z:-1.65 [[ 9.99851436e-01 -1.40566107e-02 -9.97586620e-03 5.24993894e+00] [ 1.40146685e-02 9.99892707e-01 -4.26189200e-03 -2.87371249e-01] [ 1.00347036e-02 4.12145038e-03 9.99941157e-01 -1.64756727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43719347 meters Centerline goodness [0,1] 0.8458509613370754 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.29, Z:-1.65 [[ 0.99980447 -0.01702802 -0.01005299 5.25069462] [ 0.01696824 0.99983801 -0.00600197 -0.29351498] [ 0.01015356 0.00583022 0.99993145 -1.64811974] [ 0. 0. 0. 1. ]] SLAMing on 131.46719347 meters Centerline goodness [0,1] 0.8486402421083603 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.30, Z:-1.65 [[ 0.99969348 -0.02269473 -0.00989409 5.25017062] [ 0.02259699 0.99969582 -0.00988104 -0.30245307] [ 0.01011533 0.00965444 0.99990223 -1.64736247] [ 0. 0. 0. 1. ]] SLAMing on 131.49719347 meters Centerline goodness [0,1] 0.8484613612082871 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.31, Z:-1.65 [[ 0.99969056 -0.02277337 -0.0100078 5.25059984] [ 0.02269024 0.99970773 -0.00834369 -0.30816345] [ 0.01019489 0.00811403 0.99991511 -1.64749631] [ 0. 0. 0. 1. ]] SLAMing on 131.52719347 meters Centerline goodness [0,1] 0.8555953653068493 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.31, Z:-1.65 [[ 0.99968433 -0.02300532 -0.01009961 5.25088415] [ 0.02293593 0.9997129 -0.00693317 -0.3138113 ] [ 0.01025621 0.00669934 0.99992496 -1.64752953] [ 0. 0. 0. 1. ]] SLAMing on 131.55719347 meters Centerline goodness [0,1] 0.8552157519899455 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.32, Z:-1.65 [[ 0.99959994 -0.02638231 -0.01019493 5.25193185] [ 0.026287 0.9996105 -0.00937282 -0.31789211] [ 0.01043824 0.00910108 0.9999041 -1.64836892] [ 0. 0. 0. 1. ]] SLAMing on 131.58719347 meters Centerline goodness [0,1] 0.8589374619246686 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.33, Z:-1.65 [[ 0.99941015 -0.03269857 -0.01049556 5.25446477] [ 0.0325483 0.99936953 -0.01418252 -0.32557558] [ 0.01095269 0.01383254 0.99984434 -1.65030302] [ 0. 0. 0. 1. ]] SLAMing on 131.61719347 meters Centerline goodness [0,1] 0.860244661173701 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.65 [[ 0.99941593 -0.03247219 -0.01064657 5.25523422] [ 0.03233371 0.99939348 -0.01293072 -0.33006579] [ 0.01106001 0.01257892 0.99985971 -1.65087188] [ 0. 0. 0. 1. ]] SLAMing on 131.64719347 meters Centerline goodness [0,1] 0.86152332712393 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.65 [[ 0.9994243 -0.03217255 -0.01077035 5.25581444] [ 0.0320434 0.99941496 -0.01195658 -0.33315071] [ 0.01114872 0.01160458 0.99987051 -1.65124277] [ 0. 0. 0. 1. ]] SLAMing on 131.67719347 meters Centerline goodness [0,1] 0.8629242271505376 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-1.65 [[ 0.99954279 -0.02832552 -0.01057671 5.2552757 ] [ 0.02825263 0.99957645 -0.00697896 -0.33669037] [ 0.01076991 0.00667695 0.99991971 -1.65107014] [ 0. 0. 0. 1. ]] SLAMing on 131.70719347 meters Centerline goodness [0,1] 0.8630582605775688 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-1.65 [[ 9.99644875e-01 -2.43740352e-02 -1.07717631e-02 5.25557435e+00] [ 2.43491746e-02 9.99700554e-01 -2.43311329e-03 -3.38343289e-01] [ 1.08278423e-02 2.16996569e-03 9.99939023e-01 -1.65114040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73719347 meters Centerline goodness [0,1] 0.8642258933606233 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-1.65 [[ 9.99682049e-01 -2.24630743e-02 -1.14547836e-02 5.25871001e+00] [ 2.24604011e-02 9.99747668e-01 -3.61974323e-04 -3.38373303e-01] [ 1.14600243e-02 1.04580198e-04 9.99934326e-01 -1.65345181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76719347 meters Centerline goodness [0,1] 0.8664184755174155 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-1.65 [[ 9.99678847e-01 -2.24932885e-02 -1.16727931e-02 5.26011349e+00] [ 2.24891854e-02 9.99746970e-01 -4.82668456e-04 -3.37968824e-01] [ 1.16806963e-02 2.20001838e-04 9.99931754e-01 -1.65475647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79719347 meters Centerline goodness [0,1] 0.8669973517171802 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-1.66 [[ 9.99674174e-01 -2.26035027e-02 -1.18586219e-02 5.26080590e+00] [ 2.26003876e-02 9.99744500e-01 -3.96644542e-04 -3.38729341e-01] [ 1.18645576e-02 1.28505853e-04 9.99929605e-01 -1.65516825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82719347 meters Centerline goodness [0,1] 0.8661773365861866 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-1.66 [[ 9.99665752e-01 -2.29740321e-02 -1.18565982e-02 5.26113712e+00] [ 2.29693949e-02 9.99736030e-01 -5.27148329e-04 -3.39068566e-01] [ 1.18655791e-02 2.54633244e-04 9.99929569e-01 -1.65555836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85719347 meters Centerline goodness [0,1] 0.8643075890422453 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-1.66 [[ 9.99651531e-01 -2.35171740e-02 -1.19899328e-02 5.26173675e+00] [ 2.35076930e-02 9.99723222e-01 -9.31088940e-04 -3.38460572e-01] [ 1.20085109e-02 6.48908824e-04 9.99927685e-01 -1.65597316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88719347 meters Centerline goodness [0,1] 0.8416732801470281 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.66 [[ 9.99610638e-01 -2.51353265e-02 -1.21155979e-02 5.26263834e+00] [ 2.51060751e-02 9.99681514e-01 -2.56045932e-03 -3.33856249e-01] [ 1.21760972e-02 2.25528726e-03 9.99923325e-01 -1.65667922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91719347 meters Centerline goodness [0,1] 0.8234775119215175 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.66 [[ 9.99591922e-01 -2.58159602e-02 -1.22280993e-02 5.26265096e+00] [ 2.57780328e-02 9.99662411e-01 -3.24920770e-03 -3.32237072e-01] [ 1.23078526e-02 2.93266543e-03 9.99919955e-01 -1.65636987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94719347 meters Centerline goodness [0,1] 0.8099301784328937 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.66 [[ 9.99577440e-01 -2.63160081e-02 -1.23453970e-02 5.26306689e+00] [ 2.62730575e-02 9.99648218e-01 -3.62848290e-03 -3.31767348e-01] [ 1.24365413e-02 3.30259833e-03 9.99917209e-01 -1.65655281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97719347 meters Centerline goodness [0,1] 0.7987658985014482 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.66 [[ 9.99539681e-01 -2.77530826e-02 -1.22552888e-02 5.26344649e+00] [ 2.76970237e-02 9.99605218e-01 -4.72056401e-03 -3.30599142e-01] [ 1.23814608e-02 4.37895602e-03 9.99913758e-01 -1.65713915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00719347 meters Centerline goodness [0,1] 0.8107426554028496 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.66 [[ 9.99521991e-01 -2.83976301e-02 -1.22214790e-02 5.26332606e+00] [ 2.83336512e-02 9.99584061e-01 -5.37667960e-03 -3.29331366e-01] [ 1.23690806e-02 5.02783038e-03 9.99910859e-01 -1.65698571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03719347 meters Centerline goodness [0,1] 0.8031150159744409 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.33, Z:-1.66 [[ 9.99595209e-01 -2.57234643e-02 -1.21540726e-02 5.26294433e+00] [ 2.56998185e-02 9.99667504e-01 -2.09772496e-03 -3.29220690e-01] [ 1.22039922e-02 1.78451836e-03 9.99923936e-01 -1.65675036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06719347 meters Centerline goodness [0,1] 0.797374381343847 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.32, Z:-1.66 [[ 9.99633679e-01 -2.41069785e-02 -1.23028802e-02 5.26348410e+00] [ 2.40973318e-02 9.99709183e-01 -9.31756388e-04 -3.22987457e-01] [ 1.23217641e-02 6.34948480e-04 9.99923883e-01 -1.65707882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09719347 meters Centerline goodness [0,1] 0.7974872365905414 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.32, Z:-1.66 [[ 9.99705634e-01 -2.08894818e-02 -1.23399329e-02 5.26350683e+00] [ 2.09164959e-02 9.99779095e-01 2.06416137e-03 -3.20425428e-01] [ 1.22940877e-02 -2.32166191e-03 9.99921730e-01 -1.65717358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12719347 meters Centerline goodness [0,1] 0.7939211756847028 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.32, Z:-1.66 [[ 9.99833543e-01 -1.60837013e-02 -8.61396196e-03 5.27384199e+00] [ 1.60582976e-02 9.99866526e-01 -3.01022459e-03 -3.16820337e-01] [ 8.66122777e-03 2.87139795e-03 9.99958368e-01 -1.65935264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15719347 meters Centerline goodness [0,1] 0.8098729125091902 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.31, Z:-1.66 [[ 9.99885715e-01 -1.24522786e-02 -8.57309415e-03 5.27357246e+00] [ 1.24531156e-02 9.99922456e-01 4.42508828e-05 -3.14252491e-01] [ 8.57187833e-03 -1.51007558e-04 9.99963249e-01 -1.65914820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18719347 meters Centerline goodness [0,1] 0.8289288342268475 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.31, Z:-1.66 [[ 9.99926239e-01 -8.98537183e-03 -8.17185301e-03 5.27215330e+00] [ 8.99498064e-03 9.99958895e-01 1.13984934e-03 -3.06373345e-01] [ 8.16127514e-03 -1.21327093e-03 9.99965960e-01 -1.65778940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21719347 meters Centerline goodness [0,1] 0.8345276872964169 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.30, Z:-1.66 [[ 9.99949648e-01 -5.81656951e-03 -8.17739963e-03 5.27208770e+00] [ 5.84648142e-03 9.99976289e-01 3.63874128e-03 -3.02759914e-01] [ 8.15604074e-03 -3.68636707e-03 9.99959944e-01 -1.65768739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24719347 meters Centerline goodness [0,1] 0.831960322797579 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.30, Z:-1.66 [[ 9.99961149e-01 -3.08817645e-03 -8.25618427e-03 5.27251296e+00] [ 3.13601573e-03 9.99978334e-01 5.78770494e-03 -2.98424143e-01] [ 8.23813193e-03 -5.81337160e-03 9.99949168e-01 -1.65805535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27719347 meters Centerline goodness [0,1] 0.8300220750551877 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.29, Z:-1.66 [[ 9.99958055e-01 -3.96963337e-03 -8.25410592e-03 5.27263380e+00] [ 4.00188957e-03 9.99984407e-01 3.89506033e-03 -2.92246813e-01] [ 8.23851524e-03 -3.92792897e-03 9.99958348e-01 -1.65815997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30719347 meters Centerline goodness [0,1] 0.7985489316194511 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.28, Z:-1.66 [[ 9.99941379e-01 -6.43658123e-03 -8.70687371e-03 5.27548446e+00] [ 6.44385667e-03 9.99978912e-01 8.07801783e-04 -2.83564205e-01] [ 8.70149062e-03 -8.63860275e-04 9.99961768e-01 -1.66062302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33719347 meters Centerline goodness [0,1] 0.7956408969210174 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.28, Z:-1.66 [[ 9.99926627e-01 -7.92002950e-03 -9.16589824e-03 5.27757274e+00] [ 7.91257632e-03 9.99968335e-01 -8.49121831e-04 -2.80832065e-01] [ 9.17233307e-03 7.76533659e-04 9.99957632e-01 -1.66220214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36719347 meters Centerline goodness [0,1] 0.7956408969210174 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.28, Z:-1.66 [[ 9.99926627e-01 -7.92002950e-03 -9.16589824e-03 5.27757274e+00] [ 7.91257632e-03 9.99968335e-01 -8.49121831e-04 -2.80832065e-01] [ 9.17233307e-03 7.76533659e-04 9.99957632e-01 -1.66220214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39719347 meters Centerline goodness [0,1] 0.7927118537332858 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.28, Z:-1.66 [[ 9.99916280e-01 -9.01054909e-03 -9.28666664e-03 5.27837866e+00] [ 8.99160204e-03 9.99957411e-01 -2.07997886e-03 -2.78384199e-01] [ 9.30501288e-03 1.99630272e-03 9.99954715e-01 -1.66299376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42719347 meters Centerline goodness [0,1] 0.7523124357656732 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-1.66 [[ 0.99988392 -0.01175971 -0.00968818 5.28044133] [ 0.01170482 0.99991523 -0.00570323 -0.27020463] [ 0.00975443 0.00558917 0.9999368 -1.66448205] [ 0. 0. 0. 1. ]] SLAMing on 132.45719347 meters Centerline goodness [0,1] 0.7411407996967974 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-1.67 [[ 9.99912220e-01 -8.92996035e-03 -9.78817486e-03 5.28103277e+00] [ 8.90031386e-03 9.99955684e-01 -3.06819429e-03 -2.67146826e-01] [ 9.81513995e-03 2.98080713e-03 9.99947388e-01 -1.66511343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48719347 meters Centerline goodness [0,1] 0.773160992013451 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.26, Z:-1.67 [[ 9.99928596e-01 -6.39010445e-03 -1.00979438e-02 5.28273533e+00] [ 6.38086052e-03 9.99979193e-01 -9.47380034e-04 -2.62911709e-01] [ 1.01037876e-02 8.82878817e-04 9.99948566e-01 -1.66658592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51719347 meters Centerline goodness [0,1] 0.756402156515879 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.25, Z:-1.67 [[ 9.99937686e-01 -4.42553076e-03 -1.02488029e-02 5.28455285e+00] [ 4.42390045e-03 9.99990198e-01 -1.81738310e-04 -2.51371563e-01] [ 1.02495067e-02 1.36387302e-04 9.99947463e-01 -1.66842679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54719347 meters Centerline goodness [0,1] 0.7643238227789376 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.25, Z:-1.67 [[ 9.99945075e-01 -1.69584151e-03 -1.03426975e-02 5.28476876e+00] [ 1.71548658e-03 9.99996741e-01 1.89083853e-03 -2.46940225e-01] [ 1.03394572e-02 -1.90847743e-03 9.99944725e-01 -1.66849167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57719347 meters Centerline goodness [0,1] 0.7671611555424255 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.24, Z:-1.67 [[ 9.99942381e-01 -2.14214866e-03 -1.05187903e-02 5.28519324e+00] [ 2.14575462e-03 9.99997643e-01 3.31537452e-04 -2.42232721e-01] [ 1.05180553e-02 -3.54089093e-04 9.99944621e-01 -1.66851114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60719347 meters Centerline goodness [0,1] 0.7792169499378698 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.24, Z:-1.67 [[ 9.99936812e-01 -2.39187038e-03 -1.09841249e-02 5.28628823e+00] [ 2.38155689e-03 9.99996711e-01 -9.51929010e-04 -2.38041919e-01] [ 1.09863657e-02 9.25709541e-04 9.99939220e-01 -1.66872471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63719347 meters Centerline goodness [0,1] 0.7880549237637942 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.23, Z:-1.67 [[ 9.99938614e-01 2.78164633e-05 -1.10800418e-02 5.28645207e+00] [-3.40861364e-05 9.99999839e-01 -5.65664406e-04 -2.28686791e-01] [ 1.10800243e-02 5.66007358e-04 9.99938454e-01 -1.66836556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66719347 meters Centerline goodness [0,1] 0.7762052189296771 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.22, Z:-1.67 [[ 9.99936350e-01 6.72121114e-05 -1.12823063e-02 5.28687188e+00] [-8.42966595e-05 9.99998851e-01 -1.51380928e-03 -2.23132328e-01] [ 1.12821915e-02 1.51466399e-03 9.99935207e-01 -1.66818179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69719347 meters Centerline goodness [0,1] 0.7929139184846947 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.22, Z:-1.67 [[ 9.99932797e-01 2.99156950e-03 -1.12005354e-02 5.28629189e+00] [-2.98237063e-03 9.99995202e-01 8.37900634e-04 -2.19222367e-01] [ 1.12029883e-02 -8.04440176e-04 9.99936921e-01 -1.66758007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72719347 meters Centerline goodness [0,1] 0.7934993259184362 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.21, Z:-1.67 [[ 9.99928733e-01 3.00323892e-03 -1.15546561e-02 5.28720460e+00] [-3.00603116e-03 9.99995457e-01 -2.24294531e-04 -2.13506237e-01] [ 1.15539300e-02 2.59012202e-04 9.99933218e-01 -1.66760215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75719347 meters Centerline goodness [0,1] 0.8172158850866076 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.21, Z:-1.67 [[ 9.99889666e-01 9.33112190e-03 -1.15579628e-02 5.28753046e+00] [-9.28098761e-03 9.99947322e-01 4.38370997e-03 -2.05586843e-01] [ 1.15982588e-02 -4.27595698e-03 9.99923595e-01 -1.66752146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78719347 meters Centerline goodness [0,1] 0.8242967880175619 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-1.67 [[ 9.99898602e-01 1.26842977e-02 -6.47250791e-03 5.29728716e+00] [-1.26979726e-02 9.99917222e-01 -2.07606866e-03 -1.99720550e-01] [ 6.44563866e-03 2.15804588e-03 9.99976898e-01 -1.66992036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81719347 meters Centerline goodness [0,1] 0.834760364474324 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-1.67 [[ 9.99844187e-01 1.63796143e-02 -6.58110287e-03 5.29769287e+00] [-1.63764386e-02 9.99865753e-01 5.36152901e-04 -1.95508492e-01] [ 6.58900136e-03 -4.28294334e-04 9.99978201e-01 -1.66990620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84719347 meters Centerline goodness [0,1] 0.8714565313466759 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.19, Z:-1.67 [[ 9.99668696e-01 2.49553818e-02 -6.30293872e-03 5.29743471e+00] [-2.49242349e-02 9.99676975e-01 4.97279111e-03 -1.86669962e-01] [ 6.42500062e-03 -4.81404768e-03 9.99967772e-01 -1.66750043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87719347 meters Centerline goodness [0,1] 0.8865413723511605 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.18, Z:-1.67 [[ 0.99955838 0.02906328 -0.00619379 5.29698975] [-0.02901452 0.99954839 0.00782087 -0.18284613] [ 0.00641829 -0.00763771 0.99995023 -1.66652992] [ 0. 0. 0. 1. ]] SLAMing on 132.90719347 meters Centerline goodness [0,1] 0.8912642134855033 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.18, Z:-1.67 [[ 0.9994377 0.03296475 -0.00613292 5.29642941] [-0.03289789 0.99940143 0.01070092 -0.17940191] [ 0.006482 -0.01049314 0.99992394 -1.66529325] [ 0. 0. 0. 1. ]] SLAMing on 132.93719347 meters Centerline goodness [0,1] 0.8886288894510499 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.18, Z:-1.66 [[ 0.99929899 0.03694129 -0.00607232 5.29604192] [-0.036854 0.99922387 0.01390829 -0.1765661 ] [ 0.0065814 -0.01367475 0.99988484 -1.66435492] [ 0. 0. 0. 1. ]] SLAMing on 132.96719347 meters Centerline goodness [0,1] 0.8890737893118194 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.17, Z:-1.67 [[ 0.99892423 0.04594023 -0.00631544 5.29823222] [-0.04579254 0.99871262 0.02182084 -0.17318494] [ 0.00730976 -0.02150816 0.99974195 -1.66560172] [ 0. 0. 0. 1. ]] SLAMing on 132.99719347 meters Centerline goodness [0,1] 0.8908102870863787 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.17, Z:-1.67 [[ 0.99883163 0.04782138 -0.00696288 5.30153387] [-0.04764975 0.99859876 0.02302214 -0.17203935] [ 0.00805407 -0.02266346 0.99971071 -1.6679912 ] [ 0. 0. 0. 1. ]] SLAMing on 133.02719347 meters Centerline goodness [0,1] 0.8868907066959015 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.17, Z:-1.67 [[ 0.99877471 0.04892648 -0.00743448 5.30381301] [-0.04873666 0.99852645 0.02386765 -0.17253477] [ 0.00859128 -0.02347607 0.99968748 -1.66973687] [ 0. 0. 0. 1. ]] SLAMing on 133.05719347 meters Centerline goodness [0,1] 0.8882872673088628 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.17, Z:-1.67 [[ 0.99873096 0.04976128 -0.00776458 5.30535136] [-0.04955472 0.99846229 0.02484731 -0.17454037] [ 0.00898908 -0.024431 0.9996611 -1.67095131] [ 0. 0. 0. 1. ]] SLAMing on 133.08719347 meters Centerline goodness [0,1] 0.8898997945578802 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.18, Z:-1.67 [[ 0.99880284 0.04819091 -0.00839753 5.30808396] [-0.04798417 0.99857652 0.02329047 -0.17897499] [ 0.00950796 -0.02285964 0.99969347 -1.67306545] [ 0. 0. 0. 1. ]] SLAMing on 133.11719347 meters Centerline goodness [0,1] 0.889305737048434 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.18, Z:-1.67 [[ 0.99893775 0.04524452 -0.00873484 5.30877335] [-0.04506245 0.99878349 0.02002264 -0.17981253] [ 0.00963013 -0.01960776 0.99976137 -1.67332713] [ 0. 0. 0. 1. ]] SLAMing on 133.14719347 meters Centerline goodness [0,1] 0.887051876845213 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.18, Z:-1.67 [[ 0.99901937 0.04332319 -0.00913283 5.30952486] [-0.04314959 0.99889885 0.01841759 -0.18439992] [ 0.00992068 -0.01800546 0.99978867 -1.67339812] [ 0. 0. 0. 1. ]] SLAMing on 133.17719347 meters Centerline goodness [0,1] 0.8892859395034999 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.19, Z:-1.67 [[ 0.99914448 0.04023712 -0.00955415 5.31023288] [-0.04008427 0.9990732 0.01568402 -0.18735207] [ 0.01017637 -0.01528763 0.99983135 -1.67359381] [ 0. 0. 0. 1. ]] SLAMing on 133.20719347 meters Centerline goodness [0,1] 0.8897929149584779 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.19, Z:-1.67 [[ 0.99926732 0.03695458 -0.00995861 5.31079683] [-0.03682356 0.99923678 0.01303429 -0.19124297] [ 0.01043269 -0.01265803 0.99986546 -1.67372435] [ 0. 0. 0. 1. ]] SLAMing on 133.23719347 meters Centerline goodness [0,1] 0.8892778534744785 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.19, Z:-1.67 [[ 0.99947234 0.0306341 -0.01079777 5.31241371] [-0.03056165 0.99950967 0.00681245 -0.19431625] [ 0.01100117 -0.00647886 0.9999185 -1.67415061] [ 0. 0. 0. 1. ]] SLAMing on 133.26719347 meters Centerline goodness [0,1] 0.889084839705234 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.20, Z:-1.67 [[ 9.99721321e-01 2.09161894e-02 -1.09450467e-02 5.31090633e+00] [-2.09278574e-02 9.99780535e-01 -9.52597457e-04 -2.03964464e-01] [ 1.09227200e-02 1.18138836e-03 9.99939647e-01 -1.67254223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29719347 meters Centerline goodness [0,1] 0.8912567385444744 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.21, Z:-1.67 [[ 9.99796111e-01 1.67428238e-02 -1.12878325e-02 5.31108995e+00] [-1.67833997e-02 9.99852989e-01 -3.50955179e-03 -2.10275740e-01] [ 1.12274133e-02 3.69828444e-03 9.99930132e-01 -1.67238623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32719347 meters Centerline goodness [0,1] 0.8899204244031831 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.22, Z:-1.68 [[ 9.99942683e-01 8.97404604e-03 -5.83927399e-03 5.32058312e+00] [-8.97317982e-03 9.99959725e-01 1.74527184e-04 -2.17193709e-01] [ 5.84060503e-03 -1.22120325e-04 9.99982936e-01 -1.67516881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35719347 meters Centerline goodness [0,1] 0.8866631744368779 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.22, Z:-1.68 [[ 9.99993249e-01 5.19667461e-05 -3.67412100e-03 5.32902281e+00] [-3.83747668e-05 9.99993157e-01 3.69935632e-03 -2.22787432e-01] [ 3.67428810e-03 -3.69919036e-03 9.99986408e-01 -1.67543986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38719347 meters Centerline goodness [0,1] 0.8846692737196512 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.23, Z:-1.68 [[ 9.99986266e-01 -3.50515842e-03 -3.89630154e-03 5.32991171e+00] [ 3.51080246e-03 9.99992796e-01 1.44266847e-03 -2.28146021e-01] [ 3.89121669e-03 -1.45632780e-03 9.99991369e-01 -1.67613084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41719347 meters Centerline goodness [0,1] 0.8699414662904787 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.24, Z:-1.68 [[ 9.99965083e-01 -7.33146797e-03 -4.01039694e-03 5.33004813e+00] [ 7.33050876e-03 9.99973099e-01 -2.53827504e-04 -2.36096629e-01] [ 4.01214999e-03 2.24420391e-04 9.99991926e-01 -1.67617167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44719347 meters Centerline goodness [0,1] 0.8664876995029467 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.24, Z:-1.68 [[ 9.99966867e-01 -6.86391123e-03 -4.37624146e-03 5.33093110e+00] [ 6.86849860e-03 9.99975877e-01 1.03407913e-03 -2.39623276e-01] [ 4.36903807e-03 -1.06410308e-03 9.99989890e-01 -1.67647531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47719347 meters Centerline goodness [0,1] 0.8732734371720056 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.25, Z:-1.68 [[ 9.99974253e-01 -5.44762300e-03 -4.67073639e-03 5.33144148e+00] [ 5.46375749e-03 9.99979127e-01 3.44860547e-03 -2.46420063e-01] [ 4.65185220e-03 -3.47403645e-03 9.99983146e-01 -1.67641250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50719347 meters Centerline goodness [0,1] 0.8800370541917555 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.25, Z:-1.68 [[ 9.99977027e-01 -4.76166059e-03 -4.82401491e-03 5.33170746e+00] [ 4.78372182e-03 9.99978106e-01 4.57204079e-03 -2.49643225e-01] [ 4.80213879e-03 -4.59501250e-03 9.99977912e-01 -1.67638388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53719347 meters Centerline goodness [0,1] 0.8827600715262438 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.25, Z:-1.68 [[ 9.99978709e-01 -4.20157576e-03 -4.99273259e-03 5.33205994e+00] [ 4.22853050e-03 9.99976476e-01 5.40055918e-03 -2.51707570e-01] [ 4.96992429e-03 -5.42155612e-03 9.99972953e-01 -1.67641439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56719347 meters Centerline goodness [0,1] 0.8848444042333832 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.25, Z:-1.68 [[ 9.99979542e-01 -3.74414259e-03 -5.18626239e-03 5.33240867e+00] [ 3.77511423e-03 9.99975024e-01 5.97500178e-03 -2.52984541e-01] [ 5.16376160e-03 -5.99445827e-03 9.99968701e-01 -1.67632748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59719347 meters Centerline goodness [0,1] 0.8854682136915917 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.26, Z:-1.68 [[ 9.99981591e-01 -2.52974781e-03 -5.51534206e-03 5.33297095e+00] [ 2.57071363e-03 9.99969069e-01 7.43321751e-03 -2.55682835e-01] [ 5.49636730e-03 -7.44725903e-03 9.99957163e-01 -1.67611583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62719347 meters Centerline goodness [0,1] 0.8896086200029348 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.26, Z:-1.68 [[ 9.99980946e-01 -1.91778324e-03 -5.86763816e-03 5.33377132e+00] [ 1.96557488e-03 9.99964856e-01 8.15005808e-03 -2.57212619e-01] [ 5.85180191e-03 -8.16143607e-03 9.99949572e-01 -1.67626237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65719347 meters Centerline goodness [0,1] 0.8905287501313991 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.26, Z:-1.68 [[ 9.99980088e-01 -1.39431271e-03 -6.15461691e-03 5.33406076e+00] [ 1.44808021e-03 9.99960754e-01 8.74032921e-03 -2.58455122e-01] [ 6.14218861e-03 -8.74906755e-03 9.99942862e-01 -1.67586964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68719347 meters Centerline goodness [0,1] 0.8908008635325187 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.26, Z:-1.68 [[ 9.99978624e-01 -9.03244326e-04 -6.47579725e-03 5.33483343e+00] [ 9.62348795e-04 9.99957861e-01 9.12968037e-03 -2.59063132e-01] [ 6.46727803e-03 -9.13571719e-03 9.99937355e-01 -1.67600534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71719347 meters Centerline goodness [0,1] 0.892713987473904 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.26, Z:-1.68 [[ 9.99972430e-01 1.70673859e-03 -7.22673171e-03 5.33744959e+00] [-1.62205053e-03 9.99930139e-01 1.17084104e-02 -2.62880242e-01] [ 7.24621004e-03 -1.16963654e-02 9.99905339e-01 -1.67741679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74719347 meters Centerline goodness [0,1] 0.8938930337832174 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.27, Z:-1.68 [[ 9.99970758e-01 2.27699693e-03 -7.30059456e-03 5.33773627e+00] [-2.18583284e-03 9.99919845e-01 1.24709697e-02 -2.65156712e-01] [ 7.32840574e-03 -1.24546472e-02 9.99895583e-01 -1.67758971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77719347 meters Centerline goodness [0,1] 0.8917167977788061 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.27, Z:-1.68 [[ 9.99968999e-01 2.77446788e-03 -7.36906351e-03 5.33779815e+00] [-2.67733056e-03 9.99909831e-01 1.31590871e-02 -2.67221008e-01] [ 7.40490852e-03 -1.31389497e-02 9.99886261e-01 -1.67744940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80719347 meters Centerline goodness [0,1] 0.8936027359895932 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.27, Z:-1.68 [[ 9.99965017e-01 3.93264165e-03 -7.38231899e-03 5.33743203e+00] [-3.82574684e-03 9.99888440e-01 1.44385413e-02 -2.70087138e-01] [ 7.43827703e-03 -1.44097933e-02 9.99868506e-01 -1.67666010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83719347 meters Centerline goodness [0,1] 0.89278961300895 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.27, Z:-1.68 [[ 9.99962688e-01 4.34744493e-03 -7.46471297e-03 5.33731118e+00] [-4.23517225e-03 9.99878660e-01 1.49909555e-02 -2.71443709e-01] [ 7.52897955e-03 -1.49587818e-02 9.99859765e-01 -1.67618114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86719347 meters Centerline goodness [0,1] 0.8919685635034043 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.27, Z:-1.68 [[ 9.99971334e-01 1.36290064e-03 -7.44807659e-03 5.33724484e+00] [-1.27640804e-03 9.99931843e-01 1.16051839e-02 -2.71909164e-01] [ 7.46338567e-03 -1.15953444e-02 9.99904918e-01 -1.67593107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89719347 meters Centerline goodness [0,1] 0.8919088307184491 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.27, Z:-1.68 [[ 9.99967608e-01 -5.35002840e-04 -8.03101142e-03 5.33959226e+00] [ 6.12675397e-04 9.99953035e-01 9.67223603e-03 -2.74252856e-01] [ 8.02545957e-03 -9.67684312e-03 9.99920972e-01 -1.67739762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92719347 meters Centerline goodness [0,1] 0.8911484511366743 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.68 [[ 9.99945193e-01 -6.80778061e-03 -7.95388187e-03 5.34030319e+00] [ 6.84331203e-03 9.99966689e-01 4.44853753e-03 -2.80603896e-01] [ 7.92333225e-03 -4.50272462e-03 9.99958472e-01 -1.67826127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95719347 meters Centerline goodness [0,1] 0.8898662691831294 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.68 [[ 9.99913058e-01 -1.04292133e-02 -8.06894238e-03 5.34069641e+00] [ 1.04439976e-02 9.99943854e-01 1.79228484e-03 -2.84621624e-01] [ 8.04979722e-03 -1.87640103e-03 9.99965839e-01 -1.67833937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98719347 meters Centerline goodness [0,1] 0.8913339906438147 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.68 [[ 9.99865451e-01 -1.42740028e-02 -8.08280958e-03 5.34081935e+00] [ 1.42673126e-02 9.99897825e-01 -8.84761746e-04 -2.88997679e-01] [ 8.09461282e-03 7.69322731e-04 9.99966942e-01 -1.67828621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01719347 meters Centerline goodness [0,1] 0.8885925490360788 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.68 [[ 9.99799610e-01 -1.82950824e-02 -8.12589876e-03 5.34097718e+00] [ 1.82671136e-02 9.99827006e-01 -3.50292772e-03 -2.94047302e-01] [ 8.18857938e-03 3.35378905e-03 9.99960849e-01 -1.67819722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04719347 meters Centerline goodness [0,1] 0.877992488617528 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.68 [[ 0.99953461 -0.02921821 -0.00876723 5.34425002] [ 0.02911237 0.99950451 -0.01196672 -0.30285501] [ 0.00911253 0.01170592 0.99988996 -1.68057784] [ 0. 0. 0. 1. ]] SLAMing on 134.07719347 meters Centerline goodness [0,1] 0.8626763520322472 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.31, Z:-1.68 [[ 0.99943811 -0.03227531 -0.00904267 5.34635303] [ 0.03214797 0.9993866 -0.01389035 -0.30773767] [ 0.00948543 0.01359184 0.99986263 -1.68233501] [ 0. 0. 0. 1. ]] SLAMing on 134.10719347 meters Centerline goodness [0,1] 0.8642851128326036 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.31, Z:-1.68 [[ 0.99942722 -0.03259663 -0.00909367 5.3470181 ] [ 0.03247918 0.99939074 -0.01277731 -0.31294389] [ 0.00950463 0.01247464 0.99987702 -1.68303567] [ 0. 0. 0. 1. ]] SLAMing on 134.13719347 meters Centerline goodness [0,1] 0.8471274534580069 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.69 [[ 0.99933793 -0.03521484 -0.00914472 5.34920768] [ 0.03508264 0.99928303 -0.01423499 -0.31731027] [ 0.00963945 0.01390475 0.99985686 -1.68544187] [ 0. 0. 0. 1. ]] SLAMing on 134.16719347 meters Centerline goodness [0,1] 0.837950576189774 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.69 [[ 0.9993416 -0.03506688 -0.00931059 5.35013518] [ 0.03493835 0.99929657 -0.01362654 -0.31853982] [ 0.00978188 0.01329227 0.99986381 -1.68628682] [ 0. 0. 0. 1. ]] SLAMing on 134.19719347 meters Centerline goodness [0,1] 0.8377170797504636 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.69 [[ 0.99934672 -0.03487586 -0.0094763 5.35073542] [ 0.03475075 0.99931067 -0.01306042 -0.31995381] [ 0.00992526 0.01272257 0.9998698 -1.68664054] [ 0. 0. 0. 1. ]] SLAMing on 134.22719347 meters Centerline goodness [0,1] 0.8350704314320005 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.69 [[ 0.99935403 -0.03465021 -0.00953369 5.3509293 ] [ 0.03453223 0.99932821 -0.01227386 -0.32289686] [ 0.00995257 0.01193671 0.99987922 -1.68666056] [ 0. 0. 0. 1. ]] SLAMing on 134.25719347 meters Centerline goodness [0,1] 0.8304109531509208 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.69 [[ 0.99935485 -0.034553 -0.00979713 5.35197279] [ 0.03443563 0.999336 -0.01190536 -0.32422961] [ 0.01020199 0.01156031 0.99988113 -1.68735793] [ 0. 0. 0. 1. ]] SLAMing on 134.28719347 meters Centerline goodness [0,1] 0.823839751135026 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.69 [[ 0.99945432 -0.03147743 -0.01001156 5.35243761] [ 0.03139756 0.99947466 -0.00803754 -0.32603912] [ 0.0102593 0.00771881 0.99991758 -1.68771102] [ 0. 0. 0. 1. ]] SLAMing on 134.31719347 meters Centerline goodness [0,1] 0.823839751135026 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.69 [[ 0.99945432 -0.03147743 -0.01001156 5.35243761] [ 0.03139756 0.99947466 -0.00803754 -0.32603912] [ 0.0102593 0.00771881 0.99991758 -1.68771102] [ 0. 0. 0. 1. ]] SLAMing on 134.34719347 meters Centerline goodness [0,1] 0.8351057095834916 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.69 [[ 9.99553532e-01 -2.81550179e-02 -1.00015439e-02 5.35210867e+00] [ 2.81139620e-02 9.99595808e-01 -4.22213209e-03 -3.26271657e-01] [ 1.01163756e-02 3.93906402e-03 9.99941070e-01 -1.68749534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37719347 meters Centerline goodness [0,1] 0.8420764336577761 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.32, Z:-1.69 [[ 9.99677832e-01 -2.53268317e-02 1.66859941e-03 5.35549863e+00] [ 2.53346845e-02 9.99667181e-01 -4.86634466e-03 -3.19688068e-01] [-1.54479498e-03 4.90705032e-03 9.99986767e-01 -1.68884963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40719347 meters Centerline goodness [0,1] 0.8211301694201831 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.69 [[ 9.99751662e-01 -2.22235870e-02 1.65094833e-03 5.35474733e+00] [ 2.22264242e-02 9.99751482e-01 -1.72051664e-03 -3.18041974e-01] [-1.61230199e-03 1.75678405e-03 9.99997157e-01 -1.68791448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43719347 meters Centerline goodness [0,1] 0.843811208694004 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.69 [[ 9.99792859e-01 -2.02604453e-02 1.93735808e-03 5.35254337e+00] [ 2.02600271e-02 9.99794717e-01 2.35270801e-04 -3.16234705e-01] [-1.94172706e-03 -1.95971140e-04 9.99998096e-01 -1.68585242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46719347 meters Centerline goodness [0,1] 0.8434036994901614 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.32, Z:-1.68 [[ 9.99843257e-01 -1.76007534e-02 1.91713735e-03 5.35172931e+00] [ 1.75946976e-02 9.99840298e-01 3.13115971e-03 -3.15744732e-01] [-1.97194195e-03 -3.09693747e-03 9.99993260e-01 -1.68490604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49719347 meters Centerline goodness [0,1] 0.842353384876485 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.31, Z:-1.68 [[ 9.99827258e-01 -1.84773194e-02 2.01078302e-03 5.35127064e+00] [ 1.84743630e-02 9.99828240e-01 1.47904780e-03 -3.11893705e-01] [-2.03776648e-03 -1.44164437e-03 9.99996885e-01 -1.68435566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52719347 meters Centerline goodness [0,1] 0.8433729901520062 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.31, Z:-1.68 [[ 9.99878314e-01 -1.54742504e-02 1.97596264e-03 5.35102412e+00] [ 1.54649889e-02 9.99869739e-01 4.61937548e-03 -3.10604495e-01] [-2.04718662e-03 -4.58825513e-03 9.99987378e-01 -1.68403787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55719347 meters Centerline goodness [0,1] 0.8415955971936311 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.31, Z:-1.68 [[ 9.99906433e-01 -1.34847361e-02 2.29949696e-03 5.34899181e+00] [ 1.34701899e-02 9.99889876e-01 6.22810336e-03 -3.07060688e-01] [-2.38322806e-03 -6.19654596e-03 9.99977961e-01 -1.68223783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58719347 meters Centerline goodness [0,1] 0.8622335281503595 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.68 [[ 9.99945772e-01 -1.02232379e-02 1.98473816e-03 5.34987766e+00] [ 1.02073526e-02 9.99917049e-01 7.85531928e-03 -2.99956186e-01] [-2.06488032e-03 -7.83463438e-03 9.99967177e-01 -1.68261810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61719347 meters Centerline goodness [0,1] 0.8655166638753977 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.69 [[ 9.99970457e-01 -7.55752047e-03 1.40350929e-03 5.35282878e+00] [ 7.54342250e-03 9.99923602e-01 9.79219913e-03 -2.96377730e-01] [-1.47740681e-03 -9.78132258e-03 9.99951070e-01 -1.68505970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64719347 meters Centerline goodness [0,1] 0.8729191532131415 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.29, Z:-1.69 [[ 9.99988396e-01 -4.71409959e-03 9.92492748e-04 5.35532132e+00] [ 4.70196131e-03 9.99918180e-01 1.18964383e-02 -2.93170103e-01] [-1.04849254e-03 -1.18916336e-02 9.99928742e-01 -1.68727452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67719347 meters Centerline goodness [0,1] 0.8821858429425132 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.29, Z:-1.69 [[ 9.99999467e-01 -5.96491344e-04 8.43082925e-04 5.35670088e+00] [ 5.84246066e-04 9.99895411e-01 1.44507776e-02 -2.88328585e-01] [-8.51614511e-04 -1.44502773e-02 9.99895227e-01 -1.68873650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70719347 meters Centerline goodness [0,1] 0.8822451944333326 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.28, Z:-1.69 [[ 9.99999726e-01 -5.31689533e-04 5.15780922e-04 5.35769373e+00] [ 5.24682575e-04 9.99908848e-01 1.34914596e-02 -2.84840388e-01] [-5.22907175e-04 -1.34911853e-02 9.99908853e-01 -1.68924148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73719347 meters Centerline goodness [0,1] 0.8831149681931162 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.28, Z:-1.69 [[ 9.99999847e-01 -4.21748104e-04 3.59301092e-04 5.35857664e+00] [ 4.17206978e-04 9.99921203e-01 1.25464623e-02 -2.80916774e-01] [-3.64564227e-04 -1.25463105e-02 9.99921225e-01 -1.68997861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76719347 meters Centerline goodness [0,1] 0.8812266992438444 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.28, Z:-1.69 [[ 9.99999918e-01 -4.04720076e-04 2.52327247e-05 5.35964098e+00] [ 4.04399280e-04 9.99932300e-01 1.16289538e-02 -2.77179033e-01] [-2.99374875e-05 -1.16289426e-02 9.99932381e-01 -1.69055348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79719347 meters Centerline goodness [0,1] 0.8824651504035217 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-1.69 [[ 9.99999883e-01 -3.17725478e-04 -3.65331972e-04 5.36101459e+00] [ 3.21702615e-04 9.99940123e-01 1.09383370e-02 -2.74484879e-01] [ 3.61834708e-04 -1.09384532e-02 9.99940108e-01 -1.69141582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82719347 meters Centerline goodness [0,1] 0.8826941263003047 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.27, Z:-1.70 [[ 9.99999273e-01 4.39958250e-04 -1.12301659e-03 5.36548144e+00] [-4.28100533e-04 9.99944389e-01 1.05372989e-02 -2.71648240e-01] [ 1.12759011e-03 -1.05368105e-02 9.99943851e-01 -1.69532917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85719347 meters Centerline goodness [0,1] 0.8859297221230388 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.27, Z:-1.70 [[ 9.99998912e-01 4.46558781e-04 -1.40565015e-03 5.36668969e+00] [-4.32147358e-04 9.99947516e-01 1.02361575e-02 -2.70701372e-01] [ 1.41014742e-03 -1.02355390e-02 9.99946621e-01 -1.69627168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88719347 meters Centerline goodness [0,1] 0.8821229637414608 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.27, Z:-1.70 [[ 9.99993386e-01 -3.28557819e-03 -1.55952215e-03 5.36718877e+00] [ 3.29471422e-03 9.99977213e-01 5.89225541e-03 -2.67323298e-01] [ 1.54012715e-03 -5.89735462e-03 9.99981424e-01 -1.69637160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91719347 meters Centerline goodness [0,1] 0.885379553170977 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.27, Z:-1.70 [[ 9.99983581e-01 -5.23641702e-03 -2.32743247e-03 5.36994223e+00] [ 5.24629373e-03 9.99977173e-01 4.25795587e-03 -2.67075338e-01] [ 2.30508290e-03 -4.27009636e-03 9.99988226e-01 -1.69792478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94719347 meters Centerline goodness [0,1] 0.8831455478012276 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.27, Z:-1.70 [[ 9.99980022e-01 -5.82169329e-03 -2.46244989e-03 5.37039281e+00] [ 5.83273996e-03 9.99972851e-01 4.50291228e-03 -2.69339912e-01] [ 2.43616846e-03 -4.51718515e-03 9.99986830e-01 -1.69818381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97719347 meters Centerline goodness [0,1] 0.8817269878656601 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.27, Z:-1.70 [[ 9.99975559e-01 -6.48881163e-03 -2.60316650e-03 5.37091488e+00] [ 6.50118824e-03 9.99967469e-01 4.77449425e-03 -2.72668672e-01] [ 2.57210102e-03 -4.79130123e-03 9.99985214e-01 -1.69851132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00719347 meters Centerline goodness [0,1] 0.8753645079405039 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.28, Z:-1.70 [[ 9.99934500e-01 -1.11187888e-02 -2.71454929e-03 5.37028371e+00] [ 1.11224228e-02 9.99937263e-01 1.32733877e-03 -2.76566680e-01] [ 2.69962059e-03 -1.35744420e-03 9.99995435e-01 -1.69707271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03719347 meters Centerline goodness [0,1] 0.8720693917743929 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.28, Z:-1.70 [[ 9.99930240e-01 -1.14591037e-02 -2.86439987e-03 5.36976926e+00] [ 1.14635321e-02 9.99933114e-01 1.53442540e-03 -2.77661309e-01] [ 2.84662514e-03 -1.56715449e-03 9.99994720e-01 -1.69584971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06719347 meters Centerline goodness [0,1] 0.875787616567252 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.28, Z:-1.69 [[ 9.99928580e-01 -1.15617936e-02 -3.02666574e-03 5.36921664e+00] [ 1.15669982e-02 9.99931642e-01 1.70777030e-03 -2.78410195e-01] [ 3.00671396e-03 -1.74265777e-03 9.99993961e-01 -1.69456392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09719347 meters Centerline goodness [0,1] 0.8738324622714775 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.28, Z:-1.69 [[ 9.99929899e-01 -1.14231828e-02 -3.11592271e-03 5.36881799e+00] [ 1.14289853e-02 9.99932974e-01 1.85080366e-03 -2.78554953e-01] [ 3.09457180e-03 -1.88628575e-03 9.99993433e-01 -1.69364874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12719347 meters Centerline goodness [0,1] 0.8777682151178656 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.28, Z:-1.69 [[ 9.99962884e-01 -8.00872467e-03 -3.17661306e-03 5.36858481e+00] [ 8.02635774e-03 9.99952233e-01 5.57754946e-03 -2.79057726e-01] [ 3.13179227e-03 -5.60283907e-03 9.99979400e-01 -1.69321971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15719347 meters Centerline goodness [0,1] 0.8804085149305483 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.28, Z:-1.69 [[ 9.99987863e-01 -3.88441686e-03 -3.03065156e-03 5.36784236e+00] [ 3.91145364e-03 9.99952148e-01 8.96677934e-03 -2.76662784e-01] [ 2.99567582e-03 -8.97852477e-03 9.99955205e-01 -1.69238442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18719347 meters Centerline goodness [0,1] 0.8831729866227017 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-1.69 [[ 9.99999686e-01 -1.97965167e-05 -7.91856267e-04 5.37708550e+00] [ 2.15579880e-05 9.99997525e-01 2.22453689e-03 -2.74915825e-01] [ 7.91810270e-04 -2.22455326e-03 9.99997212e-01 -1.69287457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21719347 meters Centerline goodness [0,1] 0.8842233827493261 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-1.69 [[ 9.99986805e-01 5.12738840e-03 -3.16858351e-04 5.37669096e+00] [-5.12529955e-03 9.99967179e-01 6.27472808e-03 -2.73420905e-01] [ 3.49020919e-04 -6.27302129e-03 9.99980263e-01 -1.69319429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24719347 meters Centerline goodness [0,1] 0.8887466957579826 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-1.69 [[ 9.99982502e-01 5.89074233e-03 -5.42538402e-04 5.37747168e+00] [-5.88737169e-03 9.99964562e-01 6.01780581e-03 -2.71037250e-01] [ 5.77968519e-04 -6.01450639e-03 9.99981746e-01 -1.69345361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27719347 meters Centerline goodness [0,1] 0.8897976391231028 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-1.69 [[ 9.99980344e-01 6.23831944e-03 -6.28340807e-04 5.37794443e+00] [-6.23470606e-03 9.99964899e-01 5.59721629e-03 -2.68877088e-01] [ 6.63235975e-04 -5.59318875e-03 9.99984138e-01 -1.69377896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30719347 meters Centerline goodness [0,1] 0.891150591504231 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-1.70 [[ 9.99970183e-01 7.63103398e-03 -1.18310230e-03 5.38126761e+00] [-7.62314864e-03 9.99949609e-01 6.53205922e-03 -2.67948844e-01] [ 1.23288905e-03 -6.52284549e-03 9.99977966e-01 -1.69670915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33719347 meters Centerline goodness [0,1] 0.8912661195779601 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-1.70 [[ 9.99979733e-01 6.10294208e-03 -1.81337936e-03 5.38418363e+00] [-6.09389086e-03 9.99969153e-01 4.95564796e-03 -2.67509008e-01] [ 1.84356746e-03 -4.94449699e-03 9.99986077e-01 -1.69885386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36719347 meters Centerline goodness [0,1] 0.8909022113848483 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-1.70 [[ 9.99994957e-01 2.47083151e-03 -1.99501391e-03 5.38485546e+00] [-2.46882940e-03 9.99996447e-01 1.00539705e-03 -2.66851309e-01] [ 1.99749099e-03 -1.00046663e-03 9.99997505e-01 -1.69927954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39719347 meters Centerline goodness [0,1] 0.8877042604399781 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.27, Z:-1.70 [[ 9.99997206e-01 -1.02446187e-03 -2.13040417e-03 5.38568928e+00] [ 1.02051430e-03 9.99997762e-01 -1.85322980e-03 -2.70174525e-01] [ 2.13229797e-03 1.85105051e-03 9.99996013e-01 -1.70004528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42719347 meters Centerline goodness [0,1] 0.8903542142192916 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.27, Z:-1.70 [[ 9.99997038e-01 -8.61453760e-04 -2.27621226e-03 5.38626930e+00] [ 8.59205786e-04 9.99999142e-01 -9.88387701e-04 -2.73394678e-01] [ 2.27706176e-03 9.86429039e-04 9.99996921e-01 -1.70046783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45719347 meters Centerline goodness [0,1] 0.8896560407966254 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.28, Z:-1.70 [[ 9.99993974e-01 -1.94161277e-03 -2.87787806e-03 5.38914137e+00] [ 1.93655162e-03 9.99996575e-01 -1.76038536e-03 -2.75466017e-01] [ 2.88128619e-03 1.75480159e-03 9.99994309e-01 -1.70255650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48719347 meters Centerline goodness [0,1] 0.8894747899159664 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.28, Z:-1.70 [[ 9.99994897e-01 -1.51863119e-03 -2.81065318e-03 5.38903814e+00] [ 1.51717452e-03 9.99998714e-01 -5.20327386e-04 -2.79383888e-01] [ 2.81143975e-03 5.16060480e-04 9.99995915e-01 -1.70245501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51719347 meters Centerline goodness [0,1] 0.8892844353632591 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.28, Z:-1.70 [[ 9.99994989e-01 -1.20761728e-03 -2.92651221e-03 5.38930594e+00] [ 1.20769233e-03 9.99999270e-01 2.38785769e-05 -2.80407351e-01] [ 2.92648124e-03 -2.74127836e-05 9.99995717e-01 -1.70252238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54719347 meters Centerline goodness [0,1] 0.8892024514036603 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.28, Z:-1.70 [[ 9.99994860e-01 -8.94916188e-04 -3.07867625e-03 5.38984773e+00] [ 8.96711760e-04 9.99999429e-01 5.81897574e-04 -2.81683426e-01] [ 3.07815375e-03 -5.84655269e-04 9.99995092e-01 -1.70282288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57719347 meters Centerline goodness [0,1] 0.8911100310631194 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.29, Z:-1.70 [[ 9.99995015e-01 7.95709727e-05 -3.15656801e-03 5.39043497e+00] [-7.28238051e-05 9.99997713e-01 2.13755846e-03 -2.86439365e-01] [ 3.15673088e-03 -2.13731793e-03 9.99992733e-01 -1.70329180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60719347 meters Centerline goodness [0,1] 0.8903835627973559 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.29, Z:-1.70 [[ 9.99994287e-01 4.93116466e-04 -3.34420709e-03 5.39107227e+00] [-4.83036555e-04 9.99995340e-01 3.01427872e-03 -2.89263176e-01] [ 3.34567790e-03 -3.01264613e-03 9.99989865e-01 -1.70360922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63719347 meters Centerline goodness [0,1] 0.8921843096806786 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.29, Z:-1.70 [[ 9.99994162e-01 5.71150249e-04 -3.36883101e-03 5.39104135e+00] [-5.58757048e-04 9.99993078e-01 3.67857830e-03 -2.91957113e-01] [ 3.37090871e-03 -3.67667447e-03 9.99987559e-01 -1.70343023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66719347 meters Centerline goodness [0,1] 0.8932418784716378 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.29, Z:-1.70 [[ 9.99993992e-01 6.15880794e-04 -3.41112867e-03 5.39087335e+00] [-6.01342043e-04 9.99990739e-01 4.26153942e-03 -2.94062958e-01] [ 3.41372168e-03 -4.25946256e-03 9.99985102e-01 -1.70297723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69719347 meters Centerline goodness [0,1] 0.8905321093208411 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.30, Z:-1.70 [[ 9.99993786e-01 -1.70926362e-03 -3.08313047e-03 5.38904541e+00] [ 1.71718870e-03 9.99995224e-01 2.56965222e-03 -2.97789309e-01] [ 3.07872353e-03 -2.57493057e-03 9.99991946e-01 -1.70106653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72719347 meters Centerline goodness [0,1] 0.8903794638148874 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.30, Z:-1.70 [[ 9.99992283e-01 -2.77197999e-03 -2.78396680e-03 5.38736390e+00] [ 2.77781024e-03 9.99993952e-01 2.09254596e-03 -3.00739925e-01] [ 2.77814947e-03 -2.10026314e-03 9.99993935e-01 -1.69961495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75719347 meters Centerline goodness [0,1] 0.8911792601960165 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.30, Z:-1.70 [[ 9.99991637e-01 -2.94881493e-03 -2.83373223e-03 5.38763510e+00] [ 2.95675286e-03 9.99991706e-01 2.80113372e-03 -3.04469916e-01] [ 2.82544870e-03 -2.80948894e-03 9.99992062e-01 -1.69977773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78719347 meters Centerline goodness [0,1] 0.8910901511642595 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.31, Z:-1.70 [[ 9.99977343e-01 -6.12717965e-03 -2.78764705e-03 5.38748075e+00] [ 6.12820930e-03 9.99981157e-01 3.60971484e-04 -3.08348789e-01] [ 2.78538278e-03 -3.78046590e-04 9.99996049e-01 -1.69945962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81719347 meters Centerline goodness [0,1] 0.8917118218811275 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.31, Z:-1.70 [[ 9.99979077e-01 -5.80550196e-03 -2.85335228e-03 5.38767405e+00] [ 5.80847881e-03 9.99982594e-01 1.03610328e-03 -3.09789888e-01] [ 2.84728751e-03 -1.05265524e-03 9.99995392e-01 -1.69951000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84719347 meters Centerline goodness [0,1] 0.8906174346883354 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.31, Z:-1.70 [[ 9.99980770e-01 -5.40833475e-03 -3.03483675e-03 5.38837152e+00] [ 5.41288969e-03 9.99984233e-01 1.49468325e-03 -3.10185374e-01] [ 3.02670515e-03 -1.51108174e-03 9.99994278e-01 -1.69989416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87719347 meters Centerline goodness [0,1] 0.8910323912219368 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.31, Z:-1.70 [[ 9.99983293e-01 -4.85935205e-03 -3.13040906e-03 5.38871220e+00] [ 4.86500163e-03 9.99986546e-01 1.79966219e-03 -3.09879866e-01] [ 3.12162176e-03 -1.81486157e-03 9.99993481e-01 -1.70000700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90719347 meters Centerline goodness [0,1] 0.8909479686386315 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.31, Z:-1.70 [[ 9.99974515e-01 2.97098962e-04 -7.13303612e-03 5.39712655e+00] [-2.82610077e-04 9.99997895e-01 2.03215875e-03 -3.12057432e-01] [ 7.13362486e-03 -2.03009109e-03 9.99972495e-01 -1.69869409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93719347 meters Centerline goodness [0,1] 0.8909324569165298 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.31, Z:-1.70 [[ 9.99973942e-01 8.20372011e-04 -7.17236681e-03 5.39750398e+00] [-8.03294476e-04 9.99996837e-01 2.38357465e-03 -3.12789708e-01] [ 7.17429954e-03 -2.37775101e-03 9.99971437e-01 -1.69906884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96719347 meters Centerline goodness [0,1] 0.8882456952805962 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.31, Z:-1.70 [[ 9.99973006e-01 1.11753220e-03 -7.26210200e-03 5.39807114e+00] [-1.09883914e-03 9.99996074e-01 2.57753743e-03 -3.13241122e-01] [ 7.26495397e-03 -2.56948797e-03 9.99970309e-01 -1.69962297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99719347 meters Centerline goodness [0,1] 0.8855531946226832 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.31, Z:-1.70 [[ 9.99971542e-01 1.25368181e-03 -7.43931550e-03 5.39865006e+00] [-1.23267372e-03 9.99995242e-01 2.82784148e-03 -3.14399027e-01] [ 7.44282532e-03 -2.81859075e-03 9.99968329e-01 -1.69996261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02719347 meters Centerline goodness [0,1] 0.885668615656417 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.32, Z:-1.70 [[ 9.99971760e-01 -6.93417155e-04 -7.48318848e-03 5.39928346e+00] [ 7.03363490e-04 9.99998873e-01 1.32660754e-03 -3.19125026e-01] [ 7.48226015e-03 -1.33183348e-03 9.99971121e-01 -1.70055266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05719347 meters Centerline goodness [0,1] 0.88739315790579 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.32, Z:-1.70 [[ 9.99970726e-01 -3.22834182e-04 -7.64484525e-03 5.40008508e+00] [ 3.41213179e-04 9.99997055e-01 2.40292096e-03 -3.22498323e-01] [ 7.64404699e-03 -2.40545913e-03 9.99967891e-01 -1.70119432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08719347 meters Centerline goodness [0,1] 0.8858771081297052 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.33, Z:-1.70 [[ 9.99970270e-01 8.72412495e-05 -7.71047349e-03 5.40064364e+00] [-6.06431859e-05 9.99994048e-01 3.44976834e-03 -3.25299901e-01] [ 7.71072856e-03 -3.44919819e-03 9.99964323e-01 -1.70176485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11719347 meters Centerline goodness [0,1] 0.8886119431120793 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.33, Z:-1.70 [[ 9.99968628e-01 5.03226287e-04 -7.90503677e-03 5.40151523e+00] [-4.67729020e-04 9.99989803e-01 4.49166906e-03 -3.28134683e-01] [ 7.90721649e-03 -4.48783074e-03 9.99958667e-01 -1.70240889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14719347 meters Centerline goodness [0,1] 0.8844858081361071 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.34, Z:-1.70 [[ 9.99966899e-01 -8.35329410e-04 -8.09340993e-03 5.40280694e+00] [ 8.68323863e-04 9.99991324e-01 4.07405008e-03 -3.35298216e-01] [ 8.08993654e-03 -4.08094293e-03 9.99958949e-01 -1.70352480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17719347 meters Centerline goodness [0,1] 0.8844858081361071 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.34, Z:-1.70 [[ 9.99966899e-01 -8.35329410e-04 -8.09340993e-03 5.40280694e+00] [ 8.68323863e-04 9.99991324e-01 4.07405008e-03 -3.35298216e-01] [ 8.08993654e-03 -4.08094293e-03 9.99958949e-01 -1.70352480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20719347 meters Centerline goodness [0,1] 0.8848999725952316 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.34, Z:-1.70 [[ 9.99963170e-01 -1.47248511e-03 -8.45521734e-03 5.40442145e+00] [ 1.50406601e-03 9.99991913e-01 3.72993517e-03 -3.39721653e-01] [ 8.44965669e-03 -3.74251500e-03 9.99957298e-01 -1.70465842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23719347 meters Centerline goodness [0,1] 0.88563234031863 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.71 [[ 9.99954972e-01 -2.45578645e-03 -9.16636853e-03 5.40725787e+00] [ 2.48475783e-03 9.99991950e-01 3.15056821e-03 -3.44052042e-01] [ 9.15855762e-03 -3.17320256e-03 9.99953025e-01 -1.70648321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26719347 meters Centerline goodness [0,1] 0.8854859908622452 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.35, Z:-1.71 [[ 9.99948158e-01 -3.29987091e-03 -9.63288246e-03 5.40944158e+00] [ 3.32720173e-03 9.99990481e-01 2.82259600e-03 -3.48350851e-01] [ 9.62347657e-03 -2.85450021e-03 9.99949619e-01 -1.70800006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29719347 meters Centerline goodness [0,1] 0.8844670221959908 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.36, Z:-1.71 [[ 9.99944976e-01 -5.08257457e-03 -9.17673385e-03 5.40701154e+00] [ 5.10482808e-03 9.99984083e-01 2.40320007e-03 -3.55520691e-01] [ 9.16437334e-03 -2.44991349e-03 9.99955005e-01 -1.70579767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32719347 meters Centerline goodness [0,1] 0.8845683180015191 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.36, Z:-1.71 [[ 9.99946056e-01 -4.68930084e-03 -9.26793234e-03 5.40698869e+00] [ 4.72433763e-03 9.99981763e-01 3.76216172e-03 -3.59598094e-01] [ 9.25012142e-03 -3.80574362e-03 9.99949975e-01 -1.70546696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35719347 meters Centerline goodness [0,1] 0.8853186059160705 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.36, Z:-1.71 [[ 9.99930374e-01 -6.34258751e-03 -9.95077420e-03 5.40929932e+00] [ 6.36594326e-03 9.99977052e-01 2.31721368e-03 -3.62503396e-01] [ 9.93584872e-03 -2.38039841e-03 9.99947805e-01 -1.70666574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38719347 meters Centerline goodness [0,1] 0.8814252582753531 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-1.71 [[ 9.99931680e-01 -5.87563988e-03 -1.01050159e-02 5.40975734e+00] [ 5.91103933e-03 9.99976485e-01 3.47686468e-03 -3.66161127e-01] [ 1.00843495e-02 -3.53635829e-03 9.99942898e-01 -1.70687572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41719347 meters Centerline goodness [0,1] 0.8804171494785632 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-1.71 [[ 9.99939465e-01 -4.66028291e-03 -9.96734911e-03 5.41022949e+00] [ 4.71620035e-03 9.99973232e-01 5.59393453e-03 -3.72538081e-01] [ 9.94101298e-03 -5.64060391e-03 9.99934678e-01 -1.70768538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44719347 meters Centerline goodness [0,1] 0.8766592221145337 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.38, Z:-1.71 [[ 9.99940552e-01 -4.23112553e-03 -1.00493687e-02 5.41050198e+00] [ 4.29723354e-03 9.99969211e-01 6.56586750e-03 -3.75629521e-01] [ 1.00212783e-02 -6.60866166e-03 9.99927947e-01 -1.70779017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47719347 meters Centerline goodness [0,1] 0.8775161773075059 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.38, Z:-1.71 [[ 9.99941067e-01 -3.83660114e-03 -1.01559088e-02 5.41052862e+00] [ 3.91285845e-03 9.99964223e-01 7.49947385e-03 -3.78737241e-01] [ 1.01267730e-02 -7.53877051e-03 9.99920305e-01 -1.70747647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50719347 meters Centerline goodness [0,1] 0.8813332776408671 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.38, Z:-1.71 [[ 9.99987050e-01 -1.71319771e-03 -4.79218619e-03 5.42105668e+00] [ 1.71684528e-03 9.99998240e-01 7.57138171e-04 -3.80453443e-01] [ 4.79088063e-03 -7.65355808e-04 9.99988231e-01 -1.71067721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53719347 meters Centerline goodness [0,1] 0.8833031464554989 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.39, Z:-1.71 [[ 9.99986745e-01 -1.41314225e-03 -4.95104587e-03 5.42182780e+00] [ 1.42379827e-03 9.99996676e-01 2.14941327e-03 -3.85136318e-01] [ 4.94799198e-03 -2.15643407e-03 9.99985433e-01 -1.71126129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56719347 meters Centerline goodness [0,1] 0.883206765256537 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.39, Z:-1.71 [[ 9.99985272e-01 -1.36810074e-03 -5.25201002e-03 5.42274596e+00] [ 1.38377567e-03 9.99994596e-01 2.98208495e-03 -3.88564335e-01] [ 5.24790184e-03 -2.98930863e-03 9.99981762e-01 -1.71169778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59719347 meters Centerline goodness [0,1] 0.885402167953098 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.39, Z:-1.71 [[ 9.99984184e-01 -2.01549295e-03 -5.25057689e-03 5.42263432e+00] [ 2.03080628e-03 9.99993696e-01 2.91280720e-03 -3.92930707e-01] [ 5.24467304e-03 -2.92342403e-03 9.99981973e-01 -1.71152472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62719347 meters Centerline goodness [0,1] 0.8925649384793354 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.40, Z:-1.71 [[ 9.99972014e-01 -5.19252162e-03 -5.38595815e-03 5.42314585e+00] [ 5.19991069e-03 9.99985557e-01 1.35881844e-03 -4.00643712e-01] [ 5.37882467e-03 -1.38678691e-03 9.99984572e-01 -1.71165455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65719347 meters Centerline goodness [0,1] 0.8948452308403556 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.41, Z:-1.71 [[ 9.99969457e-01 -5.58129442e-03 -5.47116311e-03 5.42328020e+00] [ 5.59444000e-03 9.99981494e-01 2.39035003e-03 -4.05501269e-01] [ 5.45772061e-03 -2.42088512e-03 9.99982176e-01 -1.71141574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68719347 meters Centerline goodness [0,1] 0.8942248855316186 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.41, Z:-1.71 [[ 9.99939938e-01 -9.38931057e-03 -5.65343684e-03 5.42366062e+00] [ 9.38570850e-03 9.99955733e-01 -6.63342423e-04 -4.08186289e-01] [ 5.65941491e-03 6.10241071e-04 9.99983799e-01 -1.71137230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71719347 meters Centerline goodness [0,1] 0.8993412883810005 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.41, Z:-1.71 [[ 0.99984406 -0.0164878 -0.00632533 5.42600332] [ 0.01644921 0.99984607 -0.00610454 -0.4132314 ] [ 0.00642501 0.00599954 0.99996136 -1.71253404] [ 0. 0. 0. 1. ]] SLAMing on 136.74719347 meters Centerline goodness [0,1] 0.9001684565171615 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.42, Z:-1.71 [[ 9.99836049e-01 -1.68825133e-02 -6.54644922e-03 5.42649661e+00] [ 1.68496697e-02 9.99845331e-01 -5.04012990e-03 -4.17560034e-01] [ 6.63052675e-03 4.92899806e-03 9.99965870e-01 -1.71245730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77719347 meters Centerline goodness [0,1] 0.905545963700678 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.42, Z:-1.71 [[ 9.99828757e-01 -1.72092659e-02 -6.80419692e-03 5.42684349e+00] [ 1.71816388e-02 9.99843986e-01 -4.09812227e-03 -4.21582589e-01] [ 6.87366104e-03 3.98051324e-03 9.99968454e-01 -1.71208492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80719347 meters Centerline goodness [0,1] 0.911759754198409 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.43, Z:-1.71 [[ 9.99810052e-01 -1.82057724e-02 -6.95765115e-03 5.42720000e+00] [ 1.81809337e-02 9.99828172e-01 -3.61670655e-03 -4.25793905e-01] [ 7.02230057e-03 3.48952297e-03 9.99969255e-01 -1.71183796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83719347 meters Centerline goodness [0,1] 0.9117331594775915 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.43, Z:-1.71 [[ 9.99862908e-01 -1.49025091e-02 -7.21662979e-03 5.42762659e+00] [ 1.49073614e-02 9.99888687e-01 6.19055961e-04 -4.27499593e-01] [ 7.20660100e-03 -7.26552002e-04 9.99973768e-01 -1.71169875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86719347 meters Centerline goodness [0,1] 0.912981455064194 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.43, Z:-1.71 [[ 9.99856700e-01 -1.51646412e-02 -7.52423382e-03 5.42792300e+00] [ 1.51669938e-02 9.99884942e-01 2.55704563e-04 -4.26274292e-01] [ 7.51949043e-03 -3.69787928e-04 9.99971660e-01 -1.71128382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89719347 meters Centerline goodness [0,1] 0.9181418235649799 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.43, Z:-1.71 [[ 9.99849004e-01 -1.54897356e-02 -7.87637956e-03 5.42850142e+00] [ 1.54893091e-02 9.99880027e-01 -1.15144103e-04 -4.25521345e-01] [ 7.87721816e-03 -6.87296144e-06 9.99968974e-01 -1.71114112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92719347 meters Centerline goodness [0,1] 0.9178125262010565 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.42, Z:-1.71 [[ 9.99820738e-01 -1.71351436e-02 -8.05478911e-03 5.42901406e+00] [ 1.71254865e-02 9.99852546e-01 -1.26638479e-03 -4.24735567e-01] [ 8.07530108e-03 1.12821559e-03 9.99966758e-01 -1.71119453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95719347 meters Centerline goodness [0,1] 0.9145780373537259 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.42, Z:-1.71 [[ 9.99799904e-01 -1.81968275e-02 -8.30821572e-03 5.43000611e+00] [ 1.81812541e-02 9.99832813e-01 -1.94615838e-03 -4.24125295e-01] [ 8.34224060e-03 1.79471518e-03 9.99963592e-01 -1.71182906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98719347 meters Centerline goodness [0,1] 0.9049387610324034 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.42, Z:-1.71 [[ 9.99749654e-01 -2.05311513e-02 -8.89390992e-03 5.43291133e+00] [ 2.04957250e-02 9.99781712e-01 -4.05621465e-03 -4.21706269e-01] [ 8.97524725e-03 3.87291206e-03 9.99952222e-01 -1.71398567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01719347 meters Centerline goodness [0,1] 0.8700286917003497 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.41, Z:-1.72 [[ 0.99964955 -0.024557 -0.00988598 5.43769319] [ 0.02447703 0.99966733 -0.00813007 -0.4130382 ] [ 0.01008235 0.00788524 0.99991808 -1.71723957] [ 0. 0. 0. 1. ]] SLAMing on 137.04719347 meters Centerline goodness [0,1] 0.8409778861515177 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.41, Z:-1.72 [[ 0.99967249 -0.0233007 -0.01058216 5.44030429] [ 0.0232302 0.99970744 -0.00673672 -0.40982927] [ 0.01073604 0.00648869 0.99992131 -1.71887072] [ 0. 0. 0. 1. ]] SLAMing on 137.07719347 meters Centerline goodness [0,1] 0.7926719913248389 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.41, Z:-1.72 [[ 0.99964252 -0.0243896 -0.01095345 5.44166437] [ 0.02429721 0.99966872 -0.00849038 -0.40538958] [ 0.0111569 0.00822121 0.99990396 -1.71963102] [ 0. 0. 0. 1. ]] SLAMing on 137.10719347 meters Centerline goodness [0,1] 0.8004899292324442 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.40, Z:-1.72 [[ 0.99969993 -0.02182897 -0.01111485 5.44224339] [ 0.02176293 0.99974498 -0.00602871 -0.40281219] [ 0.01124361 0.00578501 0.99992005 -1.72004178] [ 0. 0. 0. 1. ]] SLAMing on 137.13719347 meters Centerline goodness [0,1] 0.7872024121108063 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.40, Z:-1.72 [[ 9.99752325e-01 -1.91515087e-02 -1.13361448e-02 5.44313769e+00] [ 1.91120896e-02 9.99810954e-01 -3.57548295e-03 -3.99804244e-01] [ 1.14024777e-02 3.35793998e-03 9.99929351e-01 -1.72074909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16719347 meters Centerline goodness [0,1] 0.7959445801398131 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-1.72 [[ 9.99805730e-01 -1.55910451e-02 -1.20590929e-02 5.44647269e+00] [ 1.55789417e-02 9.99878039e-01 -1.09696561e-03 -3.88044387e-01] [ 1.20747250e-02 9.08884592e-04 9.99926685e-01 -1.72332561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19719347 meters Centerline goodness [0,1] 0.7785840484603735 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.38, Z:-1.73 [[ 9.99831258e-01 -1.33521427e-02 -1.26164950e-02 5.44887568e+00] [ 1.33546327e-02 9.99910817e-01 1.13132385e-04 -3.81712930e-01] [ 1.26138593e-02 -2.81601952e-04 9.99920402e-01 -1.72510792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22719347 meters Centerline goodness [0,1] 0.7843198926422176 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.38, Z:-1.73 [[ 9.99855307e-01 -1.09693630e-02 -1.30014825e-02 5.45066899e+00] [ 1.09889564e-02 9.99938588e-01 1.43653595e-03 -3.75602600e-01] [ 1.29849261e-02 -1.57920082e-03 9.99914445e-01 -1.72642360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25719347 meters Centerline goodness [0,1] 0.7854442344045369 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.36, Z:-1.73 [[ 9.99873774e-01 -8.69945975e-03 -1.32949704e-02 5.45151981e+00] [ 8.72373182e-03 9.99960383e-01 1.76875498e-03 -3.63847986e-01] [ 1.32790564e-02 -1.88451347e-03 9.99910054e-01 -1.72672954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28719347 meters Centerline goodness [0,1] 0.7804970434123861 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.36, Z:-1.73 [[ 9.99890209e-01 -6.05053934e-03 -1.35262814e-02 5.45223939e+00] [ 6.10400380e-03 9.99973707e-01 3.91485133e-03 -3.59749101e-01] [ 1.35022388e-02 -3.99698598e-03 9.99900852e-01 -1.72707975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31719347 meters Centerline goodness [0,1] 0.8163317007262287 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.35, Z:-1.73 [[ 9.99886685e-01 -6.37562774e-03 -1.36370253e-02 5.45282361e+00] [ 6.41216714e-03 9.99975964e-01 2.63738265e-03 -3.53976068e-01] [ 1.36198825e-02 -2.72452668e-03 9.99903533e-01 -1.72746222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34719347 meters Centerline goodness [0,1] 0.767224895463428 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.35, Z:-1.73 [[ 9.99873966e-01 -7.16011652e-03 -1.41698338e-02 5.45455702e+00] [ 7.17084478e-03 9.99974040e-01 7.06456523e-04 -3.47833865e-01] [ 1.41644076e-02 -8.07977165e-04 9.99899353e-01 -1.72826279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37719347 meters Centerline goodness [0,1] 0.8160917117990433 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.34, Z:-1.73 [[ 9.99886137e-01 -5.02246821e-03 -1.42298401e-02 5.45405035e+00] [ 5.03949976e-03 9.99986627e-01 1.16128491e-03 -3.36262102e-01] [ 1.42238173e-02 -1.23286396e-03 9.99898076e-01 -1.72728977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40719347 meters Centerline goodness [0,1] 0.8225581983805668 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.33, Z:-1.73 [[ 9.99897238e-01 -2.60210694e-03 -1.40975990e-02 5.45318730e+00] [ 2.63809199e-03 9.99993308e-01 2.53457136e-03 -3.30078382e-01] [ 1.40909095e-02 -2.57150167e-03 9.99897412e-01 -1.72642740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43719347 meters Centerline goodness [0,1] 0.7890461824089116 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.72 [[ 9.99901320e-01 -2.04529236e-04 -1.40466195e-02 5.45191704e+00] [ 2.58333947e-04 9.99992637e-01 3.82873081e-03 -3.24039304e-01] [ 1.40457330e-02 -3.83198171e-03 9.99894011e-01 -1.72481215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46719347 meters Centerline goodness [0,1] 0.8668720915608099 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.73 [[ 9.99978219e-01 2.67610424e-03 -6.03318667e-03 5.45802069e+00] [-2.69266638e-03 9.99992624e-01 -2.73872328e-03 -3.13110724e-01] [ 6.02581306e-03 2.75490899e-03 9.99978050e-01 -1.72522358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49719347 meters Centerline goodness [0,1] 0.8693333895340261 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.72 [[ 9.99974318e-01 4.35075790e-03 -5.69503531e-03 5.45602161e+00] [-4.36060843e-03 9.99989016e-01 -1.71839622e-03 -3.09459690e-01] [ 5.68749643e-03 1.74318591e-03 9.99982307e-01 -1.72336176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52719347 meters Centerline goodness [0,1] 0.8791411557493919 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.72 [[ 9.99968807e-01 4.93274907e-03 -6.16873914e-03 5.45805503e+00] [-4.94558111e-03 9.99985635e-01 -2.06665055e-03 -3.04809858e-01] [ 6.15845626e-03 2.09709409e-03 9.99978838e-01 -1.72451004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55719347 meters Centerline goodness [0,1] 0.9057774981650414 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.72 [[ 9.99948634e-01 7.90921748e-03 -6.33818979e-03 5.45892894e+00] [-7.90889610e-03 9.99968721e-01 7.57687762e-05 -3.00222505e-01] [ 6.33859081e-03 -2.56367998e-05 9.99979911e-01 -1.72496329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58719347 meters Centerline goodness [0,1] 0.9148385739825429 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.29, Z:-1.72 [[ 9.99868790e-01 1.49645954e-02 -6.20196610e-03 5.45913365e+00] [-1.49356691e-02 9.99877483e-01 4.68442305e-03 -2.88877235e-01] [ 6.27130676e-03 -4.59117789e-03 9.99969795e-01 -1.72480743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61719347 meters Centerline goodness [0,1] 0.9154297985220742 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.28, Z:-1.72 [[ 0.99980529 0.01872549 -0.00622467 5.45935781] [-0.01868164 0.99980077 0.00702963 -0.28358325] [ 0.00635506 -0.00691198 0.99995592 -1.72460775] [ 0. 0. 0. 1. ]] SLAMing on 137.64719347 meters Centerline goodness [0,1] 0.9188608953715982 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.28, Z:-1.72 [[ 0.99972176 0.02274543 -0.00624921 5.4592758 ] [-0.02268399 0.99969531 0.00973269 -0.27934166] [ 0.00646868 -0.00958822 0.99993311 -1.72397472] [ 0. 0. 0. 1. ]] SLAMing on 137.67719347 meters Centerline goodness [0,1] 0.9157538422723546 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.28, Z:-1.72 [[ 0.99962321 0.02676948 -0.00606974 5.45866288] [-0.02669202 0.99956551 0.01250302 -0.27566412] [ 0.0064018 -0.01233629 0.99990341 -1.72298254] [ 0. 0. 0. 1. ]] SLAMing on 137.70719347 meters Centerline goodness [0,1] 0.9157903504570727 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.27, Z:-1.72 [[ 9.99375944e-01 3.53089554e-02 9.99967961e-04 5.46485757e+00] [-3.53171550e-02 9.99326831e-01 9.92892681e-03 -2.67746979e-01] [-6.48714780e-04 -9.95804663e-03 9.99950207e-01 -1.72321542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73719347 meters Centerline goodness [0,1] 0.9112086711759022 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.26, Z:-1.72 [[ 9.99356583e-01 3.58542018e-02 9.47124571e-04 5.46492504e+00] [-3.58614082e-02 9.99314428e-01 9.19969252e-03 -2.63716568e-01] [-6.16627616e-04 -9.22773850e-03 9.99957233e-01 -1.72286589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76719347 meters Centerline goodness [0,1] 0.9080493353089718 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-1.72 [[ 9.99344559e-01 3.61925323e-02 7.43932601e-04 5.46575451e+00] [-3.61977133e-02 9.99305275e-01 8.87091323e-03 -2.61778676e-01] [-4.22354959e-04 -8.89202753e-03 9.99960376e-01 -1.72333502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79719347 meters Centerline goodness [0,1] 0.907699414197829 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-1.72 [[ 9.99320541e-01 3.68500250e-02 7.29245542e-04 5.46656105e+00] [-3.68553302e-02 9.99274563e-01 9.59338906e-03 -2.63678006e-01] [-3.75199893e-04 -9.61374733e-03 9.99953716e-01 -1.72437289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82719347 meters Centerline goodness [0,1] 0.9045337111425952 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-1.73 [[ 9.99387172e-01 3.50029321e-02 2.75808841e-04 5.46867238e+00] [-3.50040153e-02 9.99359562e-01 7.42865314e-03 -2.64578482e-01] [-1.56075603e-05 -7.43375507e-03 9.99972369e-01 -1.72603708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85719347 meters Centerline goodness [0,1] 0.9031493254442836 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-1.73 [[ 9.99479193e-01 3.22691835e-02 2.07055922e-04 5.46880156e+00] [-3.22697605e-02 9.99470840e-01 4.08692606e-03 -2.64142263e-01] [-7.50645889e-05 -4.09147920e-03 9.99991627e-01 -1.72609868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88719347 meters Centerline goodness [0,1] 0.9026942355889724 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-1.73 [[ 9.99458741e-01 3.28971833e-02 1.45389395e-05 5.46950694e+00] [-3.28968928e-02 9.99447855e-01 4.66683398e-03 -2.64972883e-01] [ 1.38994781e-04 -4.66478630e-03 9.99989110e-01 -1.72646850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91719347 meters Centerline goodness [0,1] 0.900280663538874 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.27, Z:-1.73 [[ 9.99336508e-01 3.64136807e-02 -7.66984501e-04 5.47396103e+00] [-3.64058718e-02 9.99301023e-01 8.48989073e-03 -2.70699615e-01] [ 1.07559657e-03 -8.45633501e-03 9.99963666e-01 -1.73019589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94719347 meters Centerline goodness [0,1] 0.9024461942257218 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.27, Z:-1.73 [[ 9.99379057e-01 3.51988175e-02 -1.59511897e-03 5.47788511e+00] [-3.51863288e-02 9.99354271e-01 7.27753155e-03 -2.74074889e-01] [ 1.85024946e-03 -7.21688623e-03 9.99972246e-01 -1.73351039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97719347 meters Centerline goodness [0,1] 0.9026721977721156 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.28, Z:-1.74 [[ 9.99437621e-01 3.34585834e-02 -2.22806050e-03 5.48063494e+00] [-3.34451024e-02 9.99423521e-01 5.83539170e-03 -2.78562906e-01] [ 2.42202001e-03 -5.75759229e-03 9.99980492e-01 -1.73582535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00719347 meters Centerline goodness [0,1] 0.9020002938521924 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.28, Z:-1.74 [[ 9.99524526e-01 3.07322959e-02 -2.49961942e-03 5.48164347e+00] [-3.07231942e-02 9.99521442e-01 3.60160114e-03 -2.82725779e-01] [ 2.60910868e-03 -3.52309238e-03 9.99990390e-01 -1.73675813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03719347 meters Centerline goodness [0,1] 0.9022692001174447 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.29, Z:-1.74 [[ 9.99644129e-01 2.65675565e-02 -2.40408109e-03 5.48047201e+00] [-2.65662249e-02 9.99646885e-01 5.84167208e-04 -2.92478744e-01] [ 2.41875207e-03 -5.20091961e-04 9.99996940e-01 -1.73573238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06719347 meters Centerline goodness [0,1] 0.9006334955529451 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.74 [[ 9.99717480e-01 2.36098268e-02 -2.74512946e-03 5.48078187e+00] [-2.36146565e-02 9.99719620e-01 -1.74048502e-03 -2.96713504e-01] [ 2.70326723e-03 1.80481859e-03 9.99994717e-01 -1.73552460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09719347 meters Centerline goodness [0,1] 0.9002503207892467 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.74 [[ 9.99778623e-01 2.08510603e-02 -2.81737365e-03 5.48051149e+00] [-2.08615482e-02 9.99775357e-01 -3.74590651e-03 -3.01646696e-01] [ 2.73863462e-03 3.80385203e-03 9.99989015e-01 -1.73518461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12719347 meters Centerline goodness [0,1] 0.9002503207892467 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.74 [[ 9.99778623e-01 2.08510603e-02 -2.81737365e-03 5.48051149e+00] [-2.08615482e-02 9.99775357e-01 -3.74590651e-03 -3.01646696e-01] [ 2.73863462e-03 3.80385203e-03 9.99989015e-01 -1.73518461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15719347 meters Centerline goodness [0,1] 0.8990313750263214 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.74 [[ 9.99828591e-01 1.82519318e-02 -3.10748463e-03 5.48085575e+00] [-1.82686422e-02 9.99818332e-01 -5.43680107e-03 -3.07104237e-01] [ 3.00768798e-03 5.49263867e-03 9.99980392e-01 -1.73514614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18719347 meters Centerline goodness [0,1] 0.8978160604848051 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.32, Z:-1.73 [[ 9.99893765e-01 1.42375287e-02 -3.12286817e-03 5.48053349e+00] [-1.42610627e-02 9.99869058e-01 -7.64785270e-03 -3.20068494e-01] [ 3.01357273e-03 7.69157565e-03 9.99965878e-01 -1.73498473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21719347 meters Centerline goodness [0,1] 0.8967653566536719 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.33, Z:-1.74 [[ 9.99923395e-01 1.18906557e-02 -3.43761876e-03 5.48175459e+00] [-1.19206061e-02 9.99889982e-01 -8.82742613e-03 -3.26772650e-01] [ 3.33227667e-03 8.86772840e-03 9.99955129e-01 -1.73597554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24719347 meters Centerline goodness [0,1] 0.8961318051575932 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.33, Z:-1.74 [[ 9.99943202e-01 9.88984386e-03 -3.97297676e-03 5.48374735e+00] [-9.92787144e-03 9.99903972e-01 -9.66866861e-03 -3.33755865e-01] [ 3.87697362e-03 9.70756264e-03 9.99945365e-01 -1.73744887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27719347 meters Centerline goodness [0,1] 0.8975397729670422 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.34, Z:-1.74 [[ 9.99958491e-01 7.99019253e-03 -4.37875107e-03 5.48556156e+00] [-8.03599480e-03 9.99912116e-01 -1.05443097e-02 -3.40273220e-01] [ 4.29411518e-03 1.05790597e-02 9.99934820e-01 -1.73894150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30719347 meters Centerline goodness [0,1] 0.8939157236953217 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.35, Z:-1.74 [[ 9.99948147e-01 8.90896402e-03 -4.93291885e-03 5.48795554e+00] [-8.94903019e-03 9.99926657e-01 -8.16059289e-03 -3.47465425e-01] [ 4.85985463e-03 8.20431458e-03 9.99954534e-01 -1.74086362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33719347 meters Centerline goodness [0,1] 0.8945296049861029 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.36, Z:-1.74 [[ 0.9999512 0.00798595 -0.00581496 5.49026086] [-0.00802564 0.99994444 -0.00683373 -0.36011204] [ 0.00576006 0.00688007 0.99995974 -1.74192358] [ 0. 0. 0. 1. ]] SLAMing on 138.36719347 meters Centerline goodness [0,1] 0.8941161552117677 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.37, Z:-1.74 [[ 0.9999653 0.00577801 -0.00600053 5.49067709] [-0.00582628 0.99995056 -0.00805865 -0.36645745] [ 0.00595367 0.00809334 0.99994952 -1.74212418] [ 0. 0. 0. 1. ]] SLAMing on 138.39719347 meters Centerline goodness [0,1] 0.8939425873624752 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.37, Z:-1.74 [[ 9.99972170e-01 3.78303809e-03 -6.43023361e-03 5.49152192e+00] [-3.84087727e-03 9.99952065e-01 -9.00645866e-03 -3.73172368e-01] [ 6.39585359e-03 9.03090575e-03 9.99938766e-01 -1.74223774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42719347 meters Centerline goodness [0,1] 0.894006309148265 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-1.74 [[ 9.99977612e-01 2.88693520e-03 -6.03657425e-03 5.48914510e+00] [-2.93215441e-03 9.99967610e-01 -7.49548820e-03 -3.86364445e-01] [ 6.01473973e-03 7.51302057e-03 9.99953688e-01 -1.73975946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45719347 meters Centerline goodness [0,1] 0.8957827288717648 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-1.74 [[ 9.99972262e-01 4.10229994e-03 -6.21661841e-03 5.48843195e+00] [-4.13264624e-03 9.99979570e-01 -4.87652168e-03 -3.93153664e-01] [ 6.19648645e-03 4.90207750e-03 9.99968786e-01 -1.73826961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48719347 meters Centerline goodness [0,1] 0.8953495702607855 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.40, Z:-1.74 [[ 9.99967451e-01 5.05480810e-03 -6.28860183e-03 5.48773599e+00] [-5.07189015e-03 9.99983484e-01 -2.70337515e-03 -3.99659148e-01] [ 6.27483292e-03 2.73518226e-03 9.99976572e-01 -1.73711468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51719347 meters Centerline goodness [0,1] 0.8982242303246821 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.41, Z:-1.74 [[ 9.99963063e-01 5.65458271e-03 -6.47287378e-03 5.48772058e+00] [-5.66138250e-03 9.99983441e-01 -1.03266420e-03 -4.05654032e-01] [ 6.46692731e-03 1.06927147e-03 9.99978518e-01 -1.73659639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54719347 meters Centerline goodness [0,1] 0.8995032800285038 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.42, Z:-1.74 [[ 9.99973034e-01 3.46629481e-03 -6.47424357e-03 5.48752121e+00] [-3.47279784e-03 9.99993476e-01 -9.93474132e-04 -4.15443406e-01] [ 6.47075766e-03 1.01593108e-03 9.99978548e-01 -1.73599106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57719347 meters Centerline goodness [0,1] 0.8961941348111762 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.42, Z:-1.74 [[ 9.99977439e-01 5.74240699e-04 -6.69267449e-03 5.48781779e+00] [-5.94610891e-04 9.99995196e-01 -3.04206265e-03 -4.20222795e-01] [ 6.69089547e-03 3.04597356e-03 9.99972977e-01 -1.73587103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60719347 meters Centerline goodness [0,1] 0.8956085477979764 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.43, Z:-1.74 [[ 9.99973219e-01 -2.09143757e-03 -7.01337221e-03 5.48887887e+00] [ 2.05790262e-03 9.99986432e-01 -4.78538487e-03 -4.25665790e-01] [ 7.02328539e-03 4.77082387e-03 9.99963956e-01 -1.73640394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63719347 meters Centerline goodness [0,1] 0.8961760127886921 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.43, Z:-1.74 [[ 9.99972762e-01 -1.70873383e-03 -7.18021128e-03 5.48935572e+00] [ 1.68678704e-03 9.99993891e-01 -3.06151122e-03 -4.32430776e-01] [ 7.18539872e-03 3.04931634e-03 9.99969535e-01 -1.73652759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66719347 meters Centerline goodness [0,1] 0.8990183507451706 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.44, Z:-1.74 [[ 9.99966510e-01 -4.19112063e-03 -7.02950667e-03 5.48897115e+00] [ 4.16449150e-03 9.99984114e-01 -3.79856238e-03 -4.40471685e-01] [ 7.04531524e-03 3.76916084e-03 9.99968078e-01 -1.73618022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69719347 meters Centerline goodness [0,1] 0.8986005964670796 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.45, Z:-1.74 [[ 9.99978310e-01 -6.52886707e-03 -8.67903570e-04 5.49804266e+00] [ 6.53172607e-03 9.99973113e-01 3.33316134e-03 -4.45146249e-01] [ 8.46118467e-04 -3.33875795e-03 9.99994068e-01 -1.73880063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72719347 meters Centerline goodness [0,1] 0.8985385166154235 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.45, Z:-1.74 [[ 9.99965322e-01 -8.25626891e-03 -1.09029405e-03 5.49861368e+00] [ 8.25905475e-03 9.99962576e-01 2.57583320e-03 -4.52884684e-01] [ 1.06898647e-03 -2.58474867e-03 9.99996088e-01 -1.73886833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75719347 meters Centerline goodness [0,1] 0.8975332869110169 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.46, Z:-1.74 [[ 9.99972265e-01 -7.32973091e-03 -1.32079876e-03 5.49950839e+00] [ 7.33509661e-03 9.99964674e-01 4.10447803e-03 -4.57054681e-01] [ 1.29066738e-03 -4.11405238e-03 9.99990704e-01 -1.73948438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78719347 meters Centerline goodness [0,1] 0.8969906431762623 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.46, Z:-1.74 [[ 9.99976837e-01 -6.58608520e-03 -1.71723145e-03 5.50082140e+00] [ 6.59489531e-03 9.99964856e-01 5.17624993e-03 -4.59501532e-01] [ 1.68307988e-03 -5.18745500e-03 9.99985129e-01 -1.74030377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81719347 meters Centerline goodness [0,1] 0.896951644590912 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.46, Z:-1.74 [[ 9.99981526e-01 -5.84372315e-03 -1.67270343e-03 5.50072901e+00] [ 5.85369587e-03 9.99964743e-01 6.02055750e-03 -4.60780007e-01] [ 1.63746198e-03 -6.03023777e-03 9.99980477e-01 -1.74023218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84719347 meters Centerline goodness [0,1] 0.8976791035380031 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.46, Z:-1.74 [[ 9.99985053e-01 -5.13176329e-03 -1.88642504e-03 5.50085091e+00] [ 5.14433769e-03 9.99964172e-01 6.72243710e-03 -4.61721402e-01] [ 1.85185949e-03 -6.73204103e-03 9.99975625e-01 -1.73986093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87719347 meters Centerline goodness [0,1] 0.899709547061795 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.46, Z:-1.74 [[ 9.99988911e-01 -4.32187273e-03 -1.87061825e-03 5.50022347e+00] [ 4.33636895e-03 9.99960052e-01 7.81601463e-03 -4.64208698e-01] [ 1.83676370e-03 -7.82403965e-03 9.99967705e-01 -1.73896330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90719347 meters Centerline goodness [0,1] 0.9000898960968369 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.47, Z:-1.74 [[ 9.99976068e-01 -6.62817416e-03 -1.98240843e-03 5.50063791e+00] [ 6.64093233e-03 9.99956824e-01 6.49988307e-03 -4.71687347e-01] [ 1.93924048e-03 -6.51289256e-03 9.99976911e-01 -1.73892306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93719347 meters Centerline goodness [0,1] 0.8982013253392237 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.47, Z:-1.74 [[ 9.99946133e-01 -1.01445382e-02 -2.19552379e-03 5.50173094e+00] [ 1.01520230e-02 9.99942600e-01 3.42524710e-03 -4.74061385e-01] [ 2.16065022e-03 -3.44735160e-03 9.99991724e-01 -1.73980627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96719347 meters Centerline goodness [0,1] 0.8951633324892377 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.48, Z:-1.74 [[ 9.99927442e-01 -1.17149233e-02 -2.80556408e-03 5.50472912e+00] [ 1.17226180e-02 9.99927528e-01 2.74212072e-03 -4.77787796e-01] [ 2.77323702e-03 -2.77481032e-03 9.99992305e-01 -1.74204977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99719346999998 meters Centerline goodness [0,1] 0.8959694188317826 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.48, Z:-1.74 [[ 9.99873834e-01 -1.55961703e-02 -3.01264325e-03 5.50579921e+00] [ 1.55947409e-02 9.99878271e-01 -4.97359035e-04 -4.80149806e-01] [ 3.02003342e-03 4.50314894e-04 9.99995338e-01 -1.74278835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02719347 meters Centerline goodness [0,1] 0.9048169718887323 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.49, Z:-1.74 [[ 9.99713318e-01 -2.37600878e-02 -2.95621277e-03 5.50613022e+00] [ 2.37396022e-02 9.99695172e-01 -6.78184173e-03 -4.86393668e-01] [ 3.11644879e-03 6.70971818e-03 9.99972633e-01 -1.74263397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05719347 meters Centerline goodness [0,1] 0.9089322144404484 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.49, Z:-1.74 [[ 9.99604348e-01 -2.79457878e-02 -3.19062289e-03 5.50710674e+00] [ 2.79122127e-02 9.99559122e-01 -1.01227722e-02 -4.89092392e-01] [ 3.47210505e-03 1.00297098e-02 9.99943673e-01 -1.74296824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08719347 meters Centerline goodness [0,1] 0.9099469160768453 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.49, Z:-1.74 [[ 9.99478474e-01 -3.21042183e-02 -3.47844575e-03 5.50840936e+00] [ 3.20537784e-02 9.99392281e-01 -1.36976198e-02 -4.91035251e-01] [ 3.91608321e-03 1.35789789e-02 9.99900133e-01 -1.74364710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11719347 meters Centerline goodness [0,1] 0.9053174969572334 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.49, Z:-1.75 [[ 9.99384459e-01 -3.48539889e-02 -3.98786680e-03 5.51130395e+00] [ 3.47867089e-02 9.99269033e-01 -1.58519808e-02 -4.93237936e-01] [ 4.53745656e-03 1.57034984e-02 9.99866397e-01 -1.74573025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14719347 meters Centerline goodness [0,1] 0.8801029482538554 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.49, Z:-1.75 [[ 9.99211988e-01 -3.94482648e-02 -4.38614408e-03 5.51305780e+00] [ 3.93544041e-02 9.99030168e-01 -1.97472545e-02 -4.94821741e-01] [ 5.16088518e-03 1.95590793e-02 9.99795383e-01 -1.74658849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17719347 meters Centerline goodness [0,1] 0.8711953108645594 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.50, Z:-1.75 [[ 9.99328771e-01 -3.63384111e-02 -4.63978060e-03 5.51356902e+00] [ 3.62618172e-02 9.99219867e-01 -1.56440744e-02 -4.96778757e-01] [ 5.20464176e-03 1.54653267e-02 9.99866859e-01 -1.74661762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20719347 meters Centerline goodness [0,1] 0.8894605321181832 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.50, Z:-1.75 [[ 9.99452808e-01 -3.27144778e-02 -4.88336791e-03 5.51373232e+00] [ 3.26570069e-02 9.99401397e-01 -1.14178693e-02 -4.97919720e-01] [ 5.25397434e-03 1.12521454e-02 9.99922890e-01 -1.74633810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23719347 meters Centerline goodness [0,1] 0.8897411715393482 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.50, Z:-1.75 [[ 9.99567152e-01 -2.89548469e-02 -5.20825796e-03 5.51400704e+00] [ 2.89169591e-02 9.99555825e-01 -7.20843748e-03 -4.99229510e-01] [ 5.41466378e-03 7.05471034e-03 9.99960455e-01 -1.74598355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26719347 meters Centerline goodness [0,1] 0.8997685185185185 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.50, Z:-1.74 [[ 9.99680790e-01 -2.47363068e-02 -5.14128145e-03 5.51288989e+00] [ 2.47199894e-02 9.99689250e-01 -3.21348376e-03 -4.98484063e-01] [ 5.21917352e-03 3.08536556e-03 9.99981620e-01 -1.74471582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29719347 meters Centerline goodness [0,1] 0.906160082330456 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.50, Z:-1.74 [[ 9.99765742e-01 -2.09602353e-02 -5.39727426e-03 5.51337599e+00] [ 2.09623581e-02 9.99780209e-01 3.37024080e-04 -4.96714781e-01] [ 5.38902389e-03 -4.50084725e-04 9.99985378e-01 -1.74489885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32719347 meters Centerline goodness [0,1] 0.9026591492405436 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.49, Z:-1.75 [[ 9.99834217e-01 -1.72696361e-02 -5.77041934e-03 5.51427778e+00] [ 1.72905060e-02 9.99844075e-01 3.58661408e-03 -4.93905807e-01] [ 5.70758007e-03 -3.68579295e-03 9.99976919e-01 -1.74539353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35719347 meters Centerline goodness [0,1] 0.9040928784755815 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.49, Z:-1.75 [[ 0.99988317 -0.0139193 -0.00631732 5.51586452] [ 0.01395976 0.99988203 0.00640655 -0.49098176] [ 0.0062274 -0.00649399 0.99995952 -1.74624813] [ 0. 0. 0. 1. ]] SLAMing on 139.38719347 meters Centerline goodness [0,1] 0.8981356788149146 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.49, Z:-1.74 [[ 9.99950049e-01 -7.61573340e-03 -6.47307131e-03 5.52272732e+00] [ 7.61337535e-03 9.99970942e-01 -3.88849238e-04 -4.86660290e-01] [ 6.47584459e-03 3.39547893e-04 9.99978974e-01 -1.74349425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41719347 meters Centerline goodness [0,1] 0.8964788585057639 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.48, Z:-1.75 [[ 9.99992957e-01 -2.90331935e-03 -2.37856344e-03 5.53256337e+00] [ 2.88626310e-03 9.99970322e-01 -7.14314045e-03 -4.84085535e-01] [ 2.39923166e-03 7.13622498e-03 9.99971659e-01 -1.74551774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44719347 meters Centerline goodness [0,1] 0.8947147738946309 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.48, Z:-1.75 [[ 9.99996554e-01 8.38148528e-04 -2.48804428e-03 5.53251790e+00] [-8.47147055e-04 9.99993097e-01 -3.61785907e-03 -4.82394247e-01] [ 2.48499481e-03 3.61995434e-03 9.99990360e-01 -1.74504974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47719347 meters Centerline goodness [0,1] 0.8940941572089113 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.48, Z:-1.74 [[ 9.99987713e-01 4.23783239e-03 -2.57188131e-03 5.53270676e+00] [-4.23895225e-03 9.99990923e-01 -4.30130875e-04 -4.80117168e-01] [ 2.57003514e-03 4.41027672e-04 9.99996600e-01 -1.74492780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50719347 meters Centerline goodness [0,1] 0.8923231141926322 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.48, Z:-1.74 [[ 9.99966829e-01 7.68020760e-03 -2.71200414e-03 5.53293260e+00] [-7.67385095e-03 9.99967802e-01 2.34657075e-03 -4.76321766e-01] [ 2.72993897e-03 -2.32568140e-03 9.99993569e-01 -1.74464406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53719347 meters Centerline goodness [0,1] 0.8891183847240078 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.47, Z:-1.74 [[ 9.99964765e-01 7.97962866e-03 -2.60674510e-03 5.53251255e+00] [-7.97410121e-03 9.99965951e-01 2.12399876e-03 -4.74846321e-01] [ 2.62360507e-03 -2.10313747e-03 9.99994347e-01 -1.74430714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56719347 meters Centerline goodness [0,1] 0.8898243121853392 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.47, Z:-1.74 [[ 9.99963217e-01 8.14811505e-03 -2.67816421e-03 5.53292869e+00] [-8.14331813e-03 9.99965228e-01 1.79717520e-03 -4.73925800e-01] [ 2.69271468e-03 -1.77529995e-03 9.99994799e-01 -1.74460726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59719347 meters Centerline goodness [0,1] 0.8882693319305629 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.47, Z:-1.74 [[ 9.99960904e-01 8.47888215e-03 -2.50992935e-03 5.53263863e+00] [-8.47439067e-03 9.99962481e-01 1.79474459e-03 -4.73565596e-01] [ 2.52505261e-03 -1.77340430e-03 9.99995240e-01 -1.74460435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62719347 meters Centerline goodness [0,1] 0.8889075594950535 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.47, Z:-1.74 [[ 9.99958537e-01 8.76778333e-03 -2.45990044e-03 5.53280399e+00] [-8.76349757e-03 9.99960073e-01 1.74765584e-03 -4.72990520e-01] [ 2.47512529e-03 -1.72602604e-03 9.99995447e-01 -1.74492064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65719347 meters Centerline goodness [0,1] 0.888055940531687 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.47, Z:-1.75 [[ 9.99921694e-01 1.22848190e-02 -2.38508891e-03 5.53450965e+00] [-1.22721885e-02 9.99910964e-01 5.23992900e-03 -4.72530592e-01] [ 2.44924813e-03 -5.21024842e-03 9.99983427e-01 -1.74709934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68719347 meters Centerline goodness [0,1] 0.88704556445678 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.47, Z:-1.75 [[ 9.99920397e-01 1.23532115e-02 -2.56845408e-03 5.53586722e+00] [-1.23403044e-02 9.99911446e-01 4.98175591e-03 -4.70991940e-01] [ 2.62976732e-03 -4.94966384e-03 9.99984292e-01 -1.74850687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71719347 meters Centerline goodness [0,1] 0.8892092690421569 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.47, Z:-1.75 [[ 9.99923093e-01 1.20261165e-02 -3.03001052e-03 5.53802846e+00] [-1.20122995e-02 9.99917554e-01 4.53770400e-03 -4.70521420e-01] [ 3.08433166e-03 -4.50095762e-03 9.99985114e-01 -1.75025328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74719346999998 meters Centerline goodness [0,1] 0.8866906853759771 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.48, Z:-1.75 [[ 9.99946388e-01 9.72369236e-03 -3.55975436e-03 5.54036656e+00] [-9.71442482e-03 9.99949404e-01 2.61151983e-03 -4.76589481e-01] [ 3.58496787e-03 -2.57679885e-03 9.99990254e-01 -1.75205754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77719347 meters Centerline goodness [0,1] 0.8869475414673215 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.48, Z:-1.75 [[ 9.99971723e-01 6.52187021e-03 -3.74408140e-03 5.54080729e+00] [-6.52345271e-03 9.99978638e-01 -4.10610897e-04 -4.79916108e-01] [ 3.74132347e-03 4.35023624e-04 9.99992907e-01 -1.75224145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80719347 meters Centerline goodness [0,1] 0.8971970459885867 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.48, Z:-1.75 [[ 9.99980235e-01 4.70916184e-03 -4.16571963e-03 5.54240348e+00] [-4.71820565e-03 9.99986528e-01 -2.16385169e-03 -4.83095204e-01] [ 4.15547358e-03 2.18346364e-03 9.99988982e-01 -1.75321749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83719347 meters Centerline goodness [0,1] 0.8926271630833771 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.49, Z:-1.75 [[ 9.99977978e-01 5.08422072e-03 -4.26537390e-03 5.54257734e+00] [-5.09009185e-03 9.99986111e-01 -1.36673798e-03 -4.85419221e-01] [ 4.25836587e-03 1.38841902e-03 9.99989969e-01 -1.75308716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86719347 meters Centerline goodness [0,1] 0.8940785040431267 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.49, Z:-1.75 [[ 9.99973076e-01 6.29307824e-03 -3.77411958e-03 5.54163325e+00] [-6.29263943e-03 9.99980193e-01 1.28133584e-04 -4.87457988e-01] [ 3.77485118e-03 -1.04380960e-04 9.99992870e-01 -1.75300494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89719347 meters Centerline goodness [0,1] 0.8908275905406254 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.49, Z:-1.75 [[ 9.99971598e-01 6.53350736e-03 -3.75717723e-03 5.54184861e+00] [-6.53017553e-03 9.99978275e-01 8.98376528e-04 -4.89562473e-01] [ 3.76296516e-03 -8.73815986e-04 9.99992538e-01 -1.75319282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92719347 meters Centerline goodness [0,1] 0.8890832455216017 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.49, Z:-1.75 [[ 9.99987234e-01 3.73241898e-03 -3.40589347e-03 5.54046153e+00] [-3.73794897e-03 9.99991704e-01 -1.61873437e-03 -4.91709406e-01] [ 3.39982342e-03 1.63144476e-03 9.99992890e-01 -1.75225296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95719347 meters Centerline goodness [0,1] 0.8854566142694593 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-1.75 [[ 9.99994618e-01 5.04630036e-04 -3.24185510e-03 5.53978672e+00] [-5.18071074e-04 9.99991269e-01 -4.14659373e-03 -4.95453240e-01] [ 3.23973430e-03 4.14825092e-03 9.99986148e-01 -1.75165336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98719347 meters Centerline goodness [0,1] 0.8854566142694593 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-1.75 [[ 9.99994618e-01 5.04630036e-04 -3.24185510e-03 5.53978672e+00] [-5.18071074e-04 9.99991269e-01 -4.14659373e-03 -4.95453240e-01] [ 3.23973430e-03 4.14825092e-03 9.99986148e-01 -1.75165336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01719347 meters Centerline goodness [0,1] 0.884403901657994 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.50, Z:-1.75 [[ 9.99989791e-01 -3.18122741e-03 -3.20895167e-03 5.53947410e+00] [ 3.15990305e-03 9.99973038e-01 -6.62859746e-03 -5.00366229e-01] [ 3.22995222e-03 6.61838982e-03 9.99972882e-01 -1.75103903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04719347 meters Centerline goodness [0,1] 0.8818099623625392 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.51, Z:-1.75 [[ 9.99887093e-01 -1.47480116e-02 -2.88049627e-03 5.53940776e+00] [ 1.46991798e-02 9.99759164e-01 -1.62956503e-02 -5.07641203e-01] [ 3.12013099e-03 1.62514694e-02 9.99863068e-01 -1.75096727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07719347 meters Centerline goodness [0,1] 0.8873488646416986 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.51, Z:-1.75 [[ 9.99814246e-01 -1.90429713e-02 -2.97315921e-03 5.54048023e+00] [ 1.89808582e-02 9.99626097e-01 -1.96823050e-02 -5.10409501e-01] [ 3.34685711e-03 1.96222158e-02 9.99801864e-01 -1.75192850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10719347 meters Centerline goodness [0,1] 0.8897538130498069 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.51, Z:-1.75 [[ 9.99750460e-01 -2.20946017e-02 -3.29335705e-03 5.54285624e+00] [ 2.20169162e-02 9.99515387e-01 -2.20056072e-02 -5.12764722e-01] [ 3.77796617e-03 2.19276063e-02 9.99752423e-01 -1.75390873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13719347 meters Centerline goodness [0,1] 0.8915973255643352 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.51, Z:-1.75 [[ 9.99738686e-01 -2.25549800e-02 -3.71913996e-03 5.54449193e+00] [ 2.24695192e-02 9.99513952e-01 -2.16097278e-02 -5.14780516e-01] [ 4.20473926e-03 2.15205136e-02 9.99759565e-01 -1.75489863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16719347 meters Centerline goodness [0,1] 0.8959171211387421 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 9.99755853e-01 -2.17015165e-02 -4.15678324e-03 5.54753342e+00] [ 2.16136792e-02 9.99563851e-01 -2.01235282e-02 -5.16172853e-01] [ 4.59168134e-03 2.00287717e-02 9.99788860e-01 -1.75754863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19719347 meters Centerline goodness [0,1] 0.8945869546873682 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 9.99826017e-01 -1.80722138e-02 -4.61845830e-03 5.54864274e+00] [ 1.79974841e-02 9.99714130e-01 -1.57400177e-02 -5.18371958e-01] [ 4.90159499e-03 1.56541586e-02 9.99865452e-01 -1.75783070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22719347 meters Centerline goodness [0,1] 0.8950009448025362 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 9.99880382e-01 -1.46486133e-02 -4.96376539e-03 5.54961695e+00] [ 1.45901434e-02 9.99826064e-01 -1.16176263e-02 -5.20445212e-01] [ 5.13308412e-03 1.15438146e-02 9.99920193e-01 -1.75814270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25719347 meters Centerline goodness [0,1] 0.897719651240778 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 9.99922318e-01 -1.13033574e-02 -5.25278951e-03 5.55015321e+00] [ 1.12635099e-02 9.99908026e-01 -7.55463836e-03 -5.21843482e-01] [ 5.33769916e-03 7.49488666e-03 9.99957667e-01 -1.75794965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28719347 meters Centerline goodness [0,1] 0.898612101136316 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 9.99906451e-01 -1.25651213e-02 -5.40439088e-03 5.55057860e+00] [ 1.25180733e-02 9.99884205e-01 -8.65296712e-03 -5.19667098e-01] [ 5.51249067e-03 8.58450508e-03 9.99947958e-01 -1.75789300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31719347 meters Centerline goodness [0,1] 0.8980667467796681 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 0.99989586 -0.01327465 -0.00566219 5.55132192] [ 0.01322393 0.99987292 -0.00890306 -0.52002279] [ 0.00577966 0.00882725 0.99994434 -1.75806954] [ 0. 0. 0. 1. ]] SLAMing on 140.34719347 meters Centerline goodness [0,1] 0.8953412419140732 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 0.99980465 -0.01888328 -0.0058381 5.55271412] [ 0.01879878 0.99972238 -0.01420432 -0.51807824] [ 0.0061047 0.01409179 0.99988207 -1.75908589] [ 0. 0. 0. 1. ]] SLAMing on 140.37719347 meters Centerline goodness [0,1] 0.8892493732487834 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.52, Z:-1.76 [[ 0.99977852 -0.02012697 -0.00614928 5.55449101] [ 0.02003138 0.99968336 -0.01522893 -0.51633632] [ 0.00645385 0.01510238 0.99986512 -1.76047986] [ 0. 0. 0. 1. ]] SLAMing on 140.40719347 meters Centerline goodness [0,1] 0.8863531387780811 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.51, Z:-1.76 [[ 0.9997506 -0.02137992 -0.00645217 5.55616691] [ 0.02127104 0.99963764 -0.01649645 -0.51329305] [ 0.00680253 0.01635509 0.99984311 -1.76177387] [ 0. 0. 0. 1. ]] SLAMing on 140.43719347 meters Centerline goodness [0,1] 0.8511896027670056 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.51, Z:-1.76 [[ 0.99972543 -0.022447 -0.00672256 5.55758417] [ 0.0223263 0.99959718 -0.01752206 -0.51076205] [ 0.00711317 0.01736716 0.99982388 -1.76281641] [ 0. 0. 0. 1. ]] SLAMing on 140.46719347 meters Centerline goodness [0,1] 0.8512180730000842 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.51, Z:-1.76 [[ 0.99969898 -0.02350202 -0.00704312 5.559074 ] [ 0.02336812 0.99955525 -0.01852631 -0.50874632] [ 0.0074754 0.01835615 0.99980357 -1.76383362] [ 0. 0. 0. 1. ]] SLAMing on 140.49719346999998 meters Centerline goodness [0,1] 0.7963310490247759 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.50, Z:-1.77 [[ 0.99963461 -0.02594103 -0.00759701 5.56203789] [ 0.0257718 0.99943478 -0.02158543 -0.50259162] [ 0.00815266 0.02138176 0.99973814 -1.76616518] [ 0. 0. 0. 1. ]] SLAMing on 140.52719347 meters Centerline goodness [0,1] 0.7845572013867003 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.50, Z:-1.77 [[ 0.99968086 -0.02383104 -0.00838253 5.56467024] [ 0.02366372 0.99952933 -0.01952312 -0.49968085] [ 0.00884384 0.01931853 0.99977426 -1.76761373] [ 0. 0. 0. 1. ]] SLAMing on 140.55719347 meters Centerline goodness [0,1] 0.7837298670754499 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.50, Z:-1.77 [[ 0.99974298 -0.02086303 -0.00887204 5.56601833] [ 0.02071159 0.9996438 -0.01683173 -0.49679109] [ 0.00922004 0.01664365 0.99981897 -1.76815012] [ 0. 0. 0. 1. ]] SLAMing on 140.58719347 meters Centerline goodness [0,1] 0.8052414024633332 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.49, Z:-1.77 [[ 0.99979546 -0.01793609 -0.00934541 5.56727929] [ 0.01780131 0.99973911 -0.01431153 -0.49320952] [ 0.00959967 0.01414224 0.99985391 -1.76859703] [ 0. 0. 0. 1. ]] SLAMing on 140.61719347 meters Centerline goodness [0,1] 0.8366397821305123 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.48, Z:-1.77 [[ 0.99990562 -0.00935489 -0.01006129 5.56947625] [ 0.00928815 0.99993469 -0.00665973 -0.48324827] [ 0.01012293 0.00656565 0.99992721 -1.76964312] [ 0. 0. 0. 1. ]] SLAMing on 140.64719347 meters Centerline goodness [0,1] 0.8707507380851961 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.48, Z:-1.77 [[ 9.99940663e-01 -4.75186979e-03 -9.80253615e-03 5.56838090e+00] [ 4.72646891e-03 9.99985417e-01 -2.61279697e-03 -4.77002976e-01] [ 9.81480887e-03 2.56631055e-03 9.99948540e-01 -1.76874519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67719347 meters Centerline goodness [0,1] 0.8773183274321362 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.47, Z:-1.77 [[ 9.99947524e-01 -1.77773795e-03 -1.00890068e-02 5.56919762e+00] [ 1.77204151e-03 9.99998265e-01 -5.73529585e-04 -4.71328140e-01] [ 1.00900089e-02 5.55621350e-04 9.99948940e-01 -1.76900823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70719347 meters Centerline goodness [0,1] 0.8795447827372155 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.46, Z:-1.77 [[ 9.99945121e-01 7.86046380e-04 -1.04469139e-02 5.57007159e+00] [-7.85579187e-04 9.99999690e-01 4.88241612e-05 -4.62679506e-01] [ 1.04469491e-02 -4.06146036e-05 9.99945428e-01 -1.76928139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73719347 meters Centerline goodness [0,1] 0.8853435888766799 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.46, Z:-1.77 [[ 9.99944287e-01 5.82202441e-04 -1.05396330e-02 5.57065319e+00] [-5.96053967e-04 9.99998963e-01 -1.31113884e-03 -4.57569303e-01] [ 1.05388587e-02 1.31734799e-03 9.99943597e-01 -1.76975801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76719347 meters Centerline goodness [0,1] 0.8861450864614087 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.45, Z:-1.77 [[ 9.99935875e-01 2.88927024e-03 -1.09497907e-02 5.57274300e+00] [-2.88737531e-03 9.99995814e-01 1.88861353e-04 -4.52230104e-01] [ 1.09502906e-02 -1.57233086e-04 9.99940031e-01 -1.77124229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79719347 meters Centerline goodness [0,1] 0.8891458363991843 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.45, Z:-1.77 [[ 9.99919125e-01 5.59555755e-03 -1.14207576e-02 5.57454529e+00] [-5.57398771e-03 9.99982623e-01 1.91961043e-03 -4.46522162e-01] [ 1.14313004e-02 -1.85579602e-03 9.99932938e-01 -1.77218175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82719347 meters Centerline goodness [0,1] 0.8895027624309393 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.44, Z:-1.77 [[ 9.99893336e-01 8.70483794e-03 -1.17278868e-02 5.57527821e+00] [-8.65682455e-03 9.99953965e-01 4.13851562e-03 -4.41869388e-01] [ 1.17633720e-02 -4.03654793e-03 9.99922662e-01 -1.77217669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85719347 meters Centerline goodness [0,1] 0.8953137845985202 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.43, Z:-1.77 [[ 0.99985207 0.01315199 -0.01108397 5.57123073] [-0.01308344 0.99989497 0.00623522 -0.43334629] [ 0.01116481 -0.00608928 0.99991913 -1.76785031] [ 0. 0. 0. 1. ]] SLAMing on 140.88719347 meters Centerline goodness [0,1] 0.8913547462485247 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.43, Z:-1.77 [[ 0.99981723 0.01574379 -0.01084578 5.56955633] [-0.0156579 0.99984573 0.00795933 -0.42885153] [ 0.01096942 -0.00778805 0.9999095 -1.76603508] [ 0. 0. 0. 1. ]] SLAMing on 140.91719347 meters Centerline goodness [0,1] 0.8900709962512304 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.42, Z:-1.77 [[ 9.99832374e-01 1.77250962e-02 -4.58754919e-03 5.58020317e+00] [-1.77234336e-02 9.99842846e-01 4.02825192e-04 -4.21671496e-01] [ 4.59396835e-03 -3.21450544e-04 9.99989396e-01 -1.76888021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94719347 meters Centerline goodness [0,1] 0.8888164124145187 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.42, Z:-1.77 [[ 9.99830109e-01 1.78040238e-02 -4.77176639e-03 5.58075930e+00] [-1.78072993e-02 9.99841230e-01 -6.44816937e-04 -4.15785941e-01] [ 4.75952844e-03 7.29679661e-04 9.99988407e-01 -1.76892995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97719347 meters Centerline goodness [0,1] 0.8915824350962547 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.41, Z:-1.77 [[ 9.99761633e-01 2.11377888e-02 -5.46540352e-03 5.58338031e+00] [-2.11336150e-02 9.99776324e-01 8.20310675e-04 -4.08460466e-01] [ 5.48152060e-03 -7.04611406e-04 9.99984728e-01 -1.77052743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00719347 meters Centerline goodness [0,1] 0.8942071828416882 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.40, Z:-1.77 [[ 9.99750098e-01 2.15999407e-02 -5.76050284e-03 5.58445077e+00] [-2.16009735e-02 9.99766665e-01 -1.17126662e-04 -4.04339093e-01] [ 5.75662879e-03 2.41529861e-04 9.99983401e-01 -1.77104750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03719347 meters Centerline goodness [0,1] 0.8987806669604819 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.40, Z:-1.77 [[ 9.99735033e-01 2.22868216e-02 -5.75865735e-03 5.58465230e+00] [-2.22922778e-02 9.99751105e-01 -8.85031299e-04 -3.99795566e-01] [ 5.73749951e-03 1.01317038e-03 9.99983027e-01 -1.77105483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06719347 meters Centerline goodness [0,1] 0.8958364015063853 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.40, Z:-1.77 [[ 9.99717920e-01 2.30569801e-02 -5.69704503e-03 5.58447710e+00] [-2.30655654e-02 9.99732909e-01 -1.44588408e-03 -3.95474727e-01] [ 5.66218568e-03 1.57688179e-03 9.99982726e-01 -1.77072516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09719347 meters Centerline goodness [0,1] 0.9011571841851495 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.39, Z:-1.77 [[ 9.99612374e-01 2.72397360e-02 -5.75318933e-03 5.58528232e+00] [-2.72312683e-02 9.99627966e-01 1.54507785e-03 -3.91037655e-01] [ 5.79313646e-03 -1.38781229e-03 9.99982257e-01 -1.77113726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12719347 meters Centerline goodness [0,1] 0.9008615281669524 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.39, Z:-1.77 [[ 9.99607915e-01 2.73098974e-02 -6.17946310e-03 5.58701311e+00] [-2.73028732e-02 9.99626465e-01 1.21822749e-03 -3.89713020e-01] [ 6.21042452e-03 -1.04903275e-03 9.99980165e-01 -1.77230600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15719347 meters Centerline goodness [0,1] 0.9117325483599663 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.39, Z:-1.78 [[ 9.99515531e-01 3.03899772e-02 -6.71949392e-03 5.59061641e+00] [-3.03637788e-02 9.99531041e-01 3.96713525e-03 -3.89567655e-01] [ 6.83690391e-03 -3.76118407e-03 9.99969555e-01 -1.77528538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18719347 meters Centerline goodness [0,1] 0.9166161373282874 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.39, Z:-1.78 [[ 9.99500345e-01 3.08241166e-02 -6.99523470e-03 5.59206761e+00] [-3.07943497e-02 9.99516389e-01 4.32387642e-03 -3.90452812e-01] [ 7.12513140e-03 -4.10630227e-03 9.99966185e-01 -1.77643189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21719347 meters Centerline goodness [0,1] 0.9183042289080581 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.39, Z:-1.78 [[ 9.99581479e-01 2.80706975e-02 -6.99302678e-03 5.59217952e+00] [-2.80644711e-02 9.99605628e-01 9.86947985e-04 -3.90883447e-01] [ 7.01797325e-03 -7.90279329e-04 9.99975061e-01 -1.77677652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24719346999998 meters Centerline goodness [0,1] 0.9193305123800746 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.39, Z:-1.78 [[ 9.99603141e-01 2.71987611e-02 -7.33396384e-03 5.59422464e+00] [-2.71979383e-02 9.99630045e-01 2.11911968e-04 -3.93229902e-01] [ 7.33701435e-03 -1.23591725e-05 9.99973084e-01 -1.77843671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27719347 meters Centerline goodness [0,1] 0.9215723349720577 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.40, Z:-1.78 [[ 9.99672014e-01 2.46175724e-02 -7.05975786e-03 5.59380395e+00] [-2.46307072e-02 9.99695034e-01 -1.77962839e-03 -3.97773310e-01] [ 7.01379474e-03 1.95293153e-03 9.99973496e-01 -1.77861537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30719347 meters Centerline goodness [0,1] 0.9215360686060199 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.40, Z:-1.78 [[ 9.99695826e-01 2.34625807e-02 -7.60014786e-03 5.59600143e+00] [-2.34815677e-02 9.99721344e-01 -2.41870108e-03 -4.00673457e-01] [ 7.54128106e-03 2.59642876e-03 9.99968193e-01 -1.78006947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33719347 meters Centerline goodness [0,1] 0.9182776246870991 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.40, Z:-1.78 [[ 9.99756970e-01 2.06234119e-02 -7.78948423e-03 5.59648946e+00] [-2.06606655e-02 9.99775344e-01 -4.73274294e-03 -4.04262121e-01] [ 7.69012897e-03 4.89252867e-03 9.99958462e-01 -1.78035948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36719347 meters Centerline goodness [0,1] 0.9245089631225553 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.41, Z:-1.78 [[ 0.99979946 0.01827956 -0.00817938 5.59800747] [-0.01833099 0.99981239 -0.00625803 -0.40969322] [ 0.00806345 0.00640671 0.99994697 -1.78138659] [ 0. 0. 0. 1. ]] SLAMing on 141.39719347 meters Centerline goodness [0,1] 0.9236029287998654 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.42, Z:-1.78 [[ 0.99984363 0.0156125 -0.00830412 5.5986643 ] [-0.01567888 0.99984516 -0.00798894 -0.41547886] [ 0.00817811 0.00811789 0.99993361 -1.78198371] [ 0. 0. 0. 1. ]] SLAMing on 141.42719347 meters Centerline goodness [0,1] 0.921756044507655 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.43, Z:-1.79 [[ 9.99943326e-01 9.99399323e-03 -3.66935363e-03 5.61084049e+00] [-1.00073081e-02 9.99943343e-01 -3.62840762e-03 -4.28746622e-01] [ 3.63288346e-03 3.66492234e-03 9.99986685e-01 -1.78586884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45719347 meters Centerline goodness [0,1] 0.9205371779244252 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.43, Z:-1.79 [[ 9.99968631e-01 6.95294796e-03 -3.79384295e-03 5.61171568e+00] [-6.97450826e-03 9.99959434e-01 -5.69964612e-03 -4.33634213e-01] [ 3.75405971e-03 5.72592752e-03 9.99976560e-01 -1.78673571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48719347 meters Centerline goodness [0,1] 0.9182605784120872 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.44, Z:-1.79 [[ 9.99981404e-01 4.48027266e-03 -4.13754813e-03 5.61394373e+00] [-4.50999115e-03 9.99963899e-01 -7.20145354e-03 -4.38902223e-01] [ 4.10513428e-03 7.21997992e-03 9.99965509e-01 -1.78858444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51719347 meters Centerline goodness [0,1] 0.9158955161100362 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.45, Z:-1.79 [[ 9.99990550e-01 -1.06048389e-03 -4.21618484e-03 5.61489622e+00] [ 1.01415444e-03 9.99939253e-01 -1.09754729e-02 -4.48734696e-01] [ 4.22756803e-03 1.09710933e-02 9.99930879e-01 -1.78939787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54719347 meters Centerline goodness [0,1] 0.9148682808615539 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.46, Z:-1.79 [[ 9.99989642e-01 -4.53837762e-03 -3.43758301e-04 5.62303449e+00] [ 4.53724829e-03 9.99984530e-01 -3.21770780e-03 -4.56018450e-01] [ 3.58356156e-04 3.21611475e-03 9.99994764e-01 -1.78937536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57719347 meters Centerline goodness [0,1] 0.912637615638997 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.46, Z:-1.79 [[ 9.99969717e-01 -7.76809243e-03 -4.71757168e-04 5.62314360e+00] [ 7.76541240e-03 9.99955055e-01 -5.43935958e-03 -4.60899409e-01] [ 5.13989413e-04 5.43553147e-03 9.99985095e-01 -1.78900008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60719347 meters Centerline goodness [0,1] 0.9112164165083606 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.46, Z:-1.79 [[ 9.99935077e-01 -1.13748455e-02 -6.74285456e-04 5.62389538e+00] [ 1.13690033e-02 9.99902454e-01 -8.11346247e-03 -4.64819577e-01] [ 7.66509064e-04 8.10526977e-03 9.99966858e-01 -1.78921486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63719347 meters Centerline goodness [0,1] 0.9090928045703801 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.47, Z:-1.79 [[ 9.99884748e-01 -1.51495505e-02 -9.90946190e-04 5.62522623e+00] [ 1.51375544e-02 9.99823116e-01 -1.11620140e-02 -4.67559159e-01] [ 1.15987040e-03 1.11457270e-02 9.99937212e-01 -1.78993282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66719347 meters Centerline goodness [0,1] 0.908090397378812 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.47, Z:-1.79 [[ 9.99737730e-01 -2.28757649e-02 -1.08181659e-03 5.62650196e+00] [ 2.28532176e-02 9.99584107e-01 -1.75881609e-02 -4.72006879e-01] [ 1.48370930e-03 1.75588251e-02 9.99844731e-01 -1.79077354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69719347 meters Centerline goodness [0,1] 0.9078760544558591 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.47, Z:-1.79 [[ 9.99638236e-01 -2.68738791e-02 -1.09193650e-03 5.62667006e+00] [ 2.68452996e-02 9.99422202e-01 -2.08468921e-02 -4.74733992e-01] [ 1.65154244e-03 2.08100371e-02 9.99782084e-01 -1.79051215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72719347 meters Centerline goodness [0,1] 0.8999853993283691 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.48, Z:-1.79 [[ 9.99522052e-01 -3.08928835e-02 -1.13897130e-03 5.62704446e+00] [ 3.08560411e-02 9.99227428e-01 -2.43403473e-02 -4.76700603e-01] [ 1.89003488e-03 2.42935697e-02 9.99703081e-01 -1.79046469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75719347 meters Centerline goodness [0,1] 0.8804681262343993 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.48, Z:-1.79 [[ 9.99494932e-01 -3.17502157e-02 -1.34304561e-03 5.62797938e+00] [ 3.17084908e-02 9.99204497e-01 -2.41856371e-02 -4.79090952e-01] [ 2.10987640e-03 2.41308357e-02 9.99706583e-01 -1.79094195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78719347 meters Centerline goodness [0,1] 0.8173119202663373 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.48, Z:-1.79 [[ 9.99375559e-01 -3.52892853e-02 -1.77699580e-03 5.63145246e+00] [ 3.52278461e-02 9.99007755e-01 -2.72489365e-02 -4.77935107e-01] [ 2.73682808e-03 2.71693214e-02 9.99627099e-01 -1.79381757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81719347 meters Centerline goodness [0,1] 0.8045316269799643 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.48, Z:-1.79 [[ 9.99460575e-01 -3.27767908e-02 -2.05934370e-03 5.63239340e+00] [ 3.27181839e-02 9.99177792e-01 -2.39428503e-02 -4.78325701e-01] [ 2.84242029e-03 2.38625569e-02 9.99711208e-01 -1.79426848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84719347 meters Centerline goodness [0,1] 0.783949458935385 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.48, Z:-1.79 [[ 9.99545591e-01 -3.00529762e-02 -2.33025242e-03 5.63311518e+00] [ 2.99983022e-02 9.99334872e-01 -2.07344164e-02 -4.77568278e-01] [ 2.95183342e-03 2.06550909e-02 9.99782303e-01 -1.79446488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87719347 meters Centerline goodness [0,1] 0.8257529646342743 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.48, Z:-1.79 [[ 9.99629288e-01 -2.71044784e-02 -2.57563629e-03 5.63347462e+00] [ 2.70551563e-02 9.99479576e-01 -1.75668961e-02 -4.76135894e-01] [ 3.05043742e-03 1.74906996e-02 9.99842373e-01 -1.79430209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90719347 meters Centerline goodness [0,1] 0.7787112492648912 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.47, Z:-1.79 [[ 9.99702362e-01 -2.42314178e-02 -2.83282466e-03 5.63397297e+00] [ 2.41834586e-02 9.99581264e-01 -1.58889182e-02 -4.68871794e-01] [ 3.21664947e-03 1.58156816e-02 9.99869750e-01 -1.79437327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93719347 meters Centerline goodness [0,1] 0.7787112492648912 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.47, Z:-1.79 [[ 9.99702362e-01 -2.42314178e-02 -2.83282466e-03 5.63397297e+00] [ 2.41834586e-02 9.99581264e-01 -1.58889182e-02 -4.68871794e-01] [ 3.21664947e-03 1.58156816e-02 9.99869750e-01 -1.79437327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96719347 meters Centerline goodness [0,1] 0.8007820668311656 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.47, Z:-1.80 [[ 9.99769101e-01 -2.12378430e-02 -3.27097345e-03 5.63544018e+00] [ 2.11924384e-02 9.99686401e-01 -1.33409204e-02 -4.65148010e-01] [ 3.55328005e-03 1.32685201e-02 9.99905656e-01 -1.79524991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99719346999998 meters Centerline goodness [0,1] 0.8238486910776168 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.46, Z:-1.80 [[ 9.99829569e-01 -1.81005325e-02 -3.63372211e-03 5.63675597e+00] [ 1.80604092e-02 9.99778710e-01 -1.07866972e-02 -4.61152219e-01] [ 3.82816296e-03 1.07192323e-02 9.99935220e-01 -1.79610421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02719347 meters Centerline goodness [0,1] 0.8642016877459542 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.45, Z:-1.80 [[ 9.99922589e-01 -1.19068379e-02 -3.61166042e-03 5.63692322e+00] [ 1.18846215e-02 9.99910698e-01 -6.11160893e-03 -4.52548507e-01] [ 3.68410782e-03 6.06821260e-03 9.99974802e-01 -1.79649993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05719347 meters Centerline goodness [0,1] 0.8917162853859815 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.45, Z:-1.80 [[ 9.99951167e-01 -9.01963224e-03 -4.03847790e-03 5.63840578e+00] [ 9.00307596e-03 9.99951069e-01 -4.09921431e-03 -4.47421032e-01] [ 4.07525370e-03 4.06265541e-03 9.99983443e-01 -1.79729017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08719347 meters Centerline goodness [0,1] 0.899736814401516 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.44, Z:-1.80 [[ 9.99976563e-01 -5.43783807e-03 -4.15983424e-03 5.63893173e+00] [ 5.43151058e-03 9.99984077e-01 -1.53087842e-03 -4.42234177e-01] [ 4.16809267e-03 1.50824836e-03 9.99990176e-01 -1.79768234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11719347 meters Centerline goodness [0,1] 0.9009284015073367 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.43, Z:-1.80 [[ 9.99985905e-01 1.02977743e-03 -5.20853772e-03 5.64216668e+00] [-1.01858165e-03 9.99997166e-01 2.15170141e-03 -4.31256458e-01] [ 5.21073873e-03 -2.14636576e-03 9.99984121e-01 -1.80007897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14719347 meters Centerline goodness [0,1] 0.8998735511064279 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.43, Z:-1.80 [[ 9.99974776e-01 4.21347482e-03 -5.71792268e-03 5.64389279e+00] [-4.18931360e-03 9.99982274e-01 4.23094272e-03 -4.26343509e-01] [ 5.73564829e-03 -4.20688182e-03 9.99974702e-01 -1.80100981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17719347 meters Centerline goodness [0,1] 0.9006551817972495 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.42, Z:-1.80 [[ 0.99995284 0.00757789 -0.0060733 5.64521344] [-0.0075381 0.99995015 0.00654804 -0.42167844] [ 0.00612262 -0.00650195 0.99996012 -1.80160715] [ 0. 0. 0. 1. ]] SLAMing on 142.20719347 meters Centerline goodness [0,1] 0.9013927224457976 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.42, Z:-1.80 [[ 0.9999174 0.01120826 -0.00628959 5.64562187] [-0.01114962 0.99989476 0.00928196 -0.41786328] [ 0.00639296 -0.00921107 0.99993714 -1.80141011] [ 0. 0. 0. 1. ]] SLAMing on 142.23719347 meters Centerline goodness [0,1] 0.9010882606773739 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.41, Z:-1.80 [[ 0.99985934 0.01558051 -0.00620841 5.64519721] [-0.01550795 0.99981281 0.01156966 -0.41138173] [ 0.00638751 -0.01147175 0.9999138 -1.80069677] [ 0. 0. 0. 1. ]] SLAMing on 142.26719347 meters Centerline goodness [0,1] 0.9035721051634495 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.41, Z:-1.80 [[ 0.99985727 0.0155808 -0.00653214 5.64620803] [-0.01551243 0.99982569 0.01039025 -0.4071544 ] [ 0.00669289 -0.01028744 0.99992468 -1.80124544] [ 0. 0. 0. 1. ]] SLAMing on 142.29719347 meters Centerline goodness [0,1] 0.9082173346229867 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 0.9998535 0.01567555 -0.00687408 5.6474689 ] [-0.01560984 0.99983293 0.00951016 -0.40353142] [ 0.00702201 -0.00940146 0.99993115 -1.80205627] [ 0. 0. 0. 1. ]] SLAMing on 142.32719347 meters Centerline goodness [0,1] 0.9090010723071424 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 0.99985022 0.01572369 -0.0072319 5.64870275] [-0.01566087 0.99983984 0.00866237 -0.40051766] [ 0.00736694 -0.00854782 0.99993633 -1.80282045] [ 0. 0. 0. 1. ]] SLAMing on 142.35719347 meters Centerline goodness [0,1] 0.9110189997264713 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 0.99984647 0.01590838 -0.00734531 5.64930005] [-0.01584799 0.99984072 0.00820841 -0.39853364] [ 0.00747472 -0.00809074 0.99993933 -1.80326979] [ 0. 0. 0. 1. ]] SLAMing on 142.38719347 meters Centerline goodness [0,1] 0.9186398620515625 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 0.99983544 0.01652907 -0.00747561 5.6494081 ] [-0.01646906 0.99983222 0.00801872 -0.39707403] [ 0.0076069 -0.00789428 0.99993991 -1.80296647] [ 0. 0. 0. 1. ]] SLAMing on 142.41719347 meters Centerline goodness [0,1] 0.9178134153794281 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 9.99883698e-01 1.30957624e-02 -7.81607381e-03 5.65001793e+00] [-1.30657561e-02 9.99907120e-01 3.87785001e-03 -3.95740525e-01] [ 7.86613126e-03 -3.77527610e-03 9.99961935e-01 -1.80302887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44719347 meters Centerline goodness [0,1] 0.9199280440102914 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 9.99882139e-01 1.30121343e-02 -8.14817062e-03 5.65097993e+00] [-1.29791583e-02 9.99907415e-01 4.08692976e-03 -3.97018221e-01] [ 8.20059590e-03 -3.98069167e-03 9.99958451e-01 -1.80332224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47719347 meters Centerline goodness [0,1] 0.9188488298545224 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 9.99912094e-01 1.05672612e-02 -8.00854340e-03 5.64965492e+00] [-1.05542647e-02 9.99942919e-01 1.66335825e-03 -3.98371015e-01] [ 8.02566340e-03 -1.57868775e-03 9.99966548e-01 -1.80202785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50719347 meters Centerline goodness [0,1] 0.9156050620117496 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 9.99941631e-01 6.99737891e-03 -8.23238420e-03 5.65029443e+00] [-7.01513732e-03 9.99973125e-01 -2.13024510e-03 -3.98110257e-01] [ 8.21725682e-03 2.18787206e-03 9.99963844e-01 -1.80227274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53719347 meters Centerline goodness [0,1] 0.9155171331086597 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 9.99938606e-01 6.72794701e-03 -8.80447328e-03 5.65172808e+00] [-6.74309794e-03 9.99975833e-01 -1.69226910e-03 -4.00921924e-01] [ 8.79287500e-03 1.75153463e-03 9.99959808e-01 -1.80257355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56719347 meters Centerline goodness [0,1] 0.9189143839926172 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.40, Z:-1.80 [[ 9.99953152e-01 3.58260661e-03 -8.99216459e-03 5.65179994e+00] [-3.62603036e-03 9.99981822e-01 -4.81741659e-03 -4.02435308e-01] [ 8.97474223e-03 4.84979676e-03 9.99947965e-01 -1.80224067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59719347 meters Centerline goodness [0,1] 0.9138430532812697 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.41, Z:-1.80 [[ 9.99960457e-01 1.30569827e-03 -8.79654386e-03 5.65083751e+00] [-1.36116192e-03 9.99979215e-01 -6.30213027e-03 -4.08204404e-01] [ 8.78813234e-03 6.31385459e-03 9.99941450e-01 -1.80128998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62719347 meters Centerline goodness [0,1] 0.9145907473309609 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.41, Z:-1.80 [[ 9.99958301e-01 1.80535679e-03 -8.95187874e-03 5.65071843e+00] [-1.84960928e-03 9.99986100e-01 -4.93756261e-03 -4.12209687e-01] [ 8.94284024e-03 4.95391420e-03 9.99947741e-01 -1.80063545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65719347 meters Centerline goodness [0,1] 0.9164073669161551 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.42, Z:-1.80 [[ 9.99955037e-01 2.28450514e-03 -9.20358488e-03 5.65110284e+00] [-2.31803408e-03 9.99990710e-01 -3.63401214e-03 -4.15985977e-01] [ 9.19519746e-03 3.65518297e-03 9.99951043e-01 -1.80035771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68719347 meters Centerline goodness [0,1] 0.9165965856530149 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.42, Z:-1.80 [[ 9.99953392e-01 2.63784260e-03 -9.28736221e-03 5.65092533e+00] [-2.66204026e-03 9.99993092e-01 -2.59404252e-03 -4.19020641e-01] [ 9.28045538e-03 2.61864495e-03 9.99953507e-01 -1.79979238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71719347 meters Centerline goodness [0,1] 0.9151740665993946 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.43, Z:-1.80 [[ 9.99954421e-01 3.12213268e-03 -9.02263197e-03 5.65024824e+00] [-3.12794185e-03 9.99994910e-01 -6.29804341e-04 -4.25146057e-01] [ 9.02061971e-03 6.57997903e-04 9.99959097e-01 -1.79903111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74719346999998 meters Centerline goodness [0,1] 0.9165406268380808 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.43, Z:-1.80 [[ 9.99952217e-01 3.18565330e-03 -9.24204428e-03 5.65076957e+00] [-3.18392216e-03 9.99994911e-01 2.02019314e-04 -4.28465478e-01] [ 9.24264081e-03 -1.72583711e-04 9.99957271e-01 -1.79904465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77719347 meters Centerline goodness [0,1] 0.9143611670020121 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.43, Z:-1.80 [[ 9.99948908e-01 2.54612679e-03 -9.78259154e-03 5.65305895e+00] [-2.54358635e-03 9.99996728e-01 2.72122802e-04 -4.31262812e-01] [ 9.78325239e-03 -2.47226033e-04 9.99952112e-01 -1.80046021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80719347 meters Centerline goodness [0,1] 0.9123442236443247 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.43, Z:-1.80 [[ 9.99945742e-01 2.44608101e-03 -1.01256848e-02 5.65436901e+00] [-2.43564488e-03 9.99996490e-01 1.04286264e-03 -4.34743146e-01] [ 1.01282002e-02 -1.01814348e-03 9.99948190e-01 -1.80124479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83719347 meters Centerline goodness [0,1] 0.9121290512545481 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.44, Z:-1.80 [[ 9.99940563e-01 4.67006011e-04 -1.08927488e-02 5.65725590e+00] [-4.71669801e-04 9.99999798e-01 -4.25590454e-04 -4.38424109e-01] [ 1.08925479e-02 4.30702939e-04 9.99940582e-01 -1.80302132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86719347 meters Centerline goodness [0,1] 0.9078756236710807 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.45, Z:-1.80 [[ 9.99918905e-01 -5.98542521e-03 -1.12409512e-02 5.65918155e+00] [ 5.92598935e-03 9.99968325e-01 -5.31332638e-03 -4.46295300e-01] [ 1.12723976e-02 5.24628174e-03 9.99922702e-01 -1.80448093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89719347 meters Centerline goodness [0,1] 0.9058336296513209 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.45, Z:-1.81 [[ 9.99926612e-01 -9.92007361e-03 -6.95429509e-03 5.67016752e+00] [ 9.93000265e-03 9.99949724e-01 1.39468369e-03 -4.51586227e-01] [ 6.94011009e-03 -1.46363750e-03 9.99974846e-01 -1.80722918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92719347 meters Centerline goodness [0,1] 0.9067366247339697 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.45, Z:-1.81 [[ 9.99861490e-01 -1.51057672e-02 -6.98689700e-03 5.67094143e+00] [ 1.50917056e-02 9.99883990e-01 -2.06093788e-03 -4.54847001e-01] [ 7.01721849e-03 1.95520823e-03 9.99973468e-01 -1.80777634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95719347 meters Centerline goodness [0,1] 0.9057092878669729 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.46, Z:-1.81 [[ 9.99852390e-01 -1.55138385e-02 -7.38365591e-03 5.67176125e+00] [ 1.55013994e-02 9.99878334e-01 -1.73894141e-03 -4.56460802e-01] [ 7.40973523e-03 1.62422772e-03 9.99971228e-01 -1.80769005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98719347 meters Centerline goodness [0,1] 0.90387979178521 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.46, Z:-1.81 [[ 9.99846911e-01 -1.56436710e-02 -7.83779633e-03 5.67284619e+00] [ 1.56329831e-02 9.99876785e-01 -1.42305976e-03 -4.57875165e-01] [ 7.85909248e-03 1.30031377e-03 9.99968271e-01 -1.80785299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01719347 meters Centerline goodness [0,1] 0.903197889182058 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.46, Z:-1.81 [[ 9.99843210e-01 -1.56973255e-02 -8.19443427e-03 5.67354711e+00] [ 1.56875257e-02 9.99876151e-01 -1.25881350e-03 -4.58797522e-01] [ 8.21317940e-03 1.13006574e-03 9.99965633e-01 -1.80782776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04719347 meters Centerline goodness [0,1] 0.9028641021333781 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.46, Z:-1.81 [[ 9.99823516e-01 -1.65908980e-02 -8.81357427e-03 5.67591366e+00] [ 1.65693054e-02 9.99859551e-01 -2.51732710e-03 -4.56846993e-01] [ 8.85410112e-03 2.37084803e-03 9.99957991e-01 -1.80942908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07719347 meters Centerline goodness [0,1] 0.9029990529306535 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.46, Z:-1.81 [[ 9.99869124e-01 -1.33951459e-02 -9.07217706e-03 5.67650519e+00] [ 1.34053664e-02 9.99909575e-01 1.06670731e-03 -4.56616649e-01] [ 9.05706801e-03 -1.18818356e-03 9.99958278e-01 -1.80957305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10719347 meters Centerline goodness [0,1] 0.9029400598979205 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.46, Z:-1.81 [[ 9.99904413e-01 -1.03932909e-02 -9.11830593e-03 5.67649532e+00] [ 1.04335577e-02 9.99935978e-01 4.37964046e-03 -4.55832641e-01] [ 9.07220328e-03 -4.47435820e-03 9.99948836e-01 -1.80931624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13719347 meters Centerline goodness [0,1] 0.8975907390768331 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.45, Z:-1.81 [[ 9.99960289e-01 -8.38488162e-03 -3.01906230e-03 5.68873125e+00] [ 8.38055517e-03 9.99963842e-01 -1.44285502e-03 -4.52955012e-01] [ 3.03105131e-03 1.41749630e-03 9.99994402e-01 -1.81314277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16719347 meters Centerline goodness [0,1] 0.8959594893976158 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.45, Z:-1.81 [[ 9.99952384e-01 -9.26974594e-03 -3.04976869e-03 5.68884174e+00] [ 9.26150531e-03 9.99953452e-01 -2.70516835e-03 -4.49369716e-01] [ 3.07470295e-03 2.67679409e-03 9.99991690e-01 -1.81317917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19719347 meters Centerline goodness [0,1] 0.8859129484917234 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.45, Z:-1.81 [[ 9.99965155e-01 -7.54651890e-03 -3.56928295e-03 5.69113570e+00] [ 7.54445676e-03 9.99971366e-01 -5.90858696e-04 -4.48183955e-01] [ 3.57363967e-03 5.63909806e-04 9.99993456e-01 -1.81467798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22719347 meters Centerline goodness [0,1] 0.8941555841254453 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.45, Z:-1.82 [[ 9.99962448e-01 -7.81975283e-03 -3.73542100e-03 5.69181368e+00] [ 7.81497903e-03 9.99968629e-01 -1.29087241e-03 -4.45629344e-01] [ 3.74539812e-03 1.26163170e-03 9.99992190e-01 -1.81516381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25719347 meters Centerline goodness [0,1] 0.8968555049738661 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.44, Z:-1.82 [[ 9.99979912e-01 -4.96829121e-03 -3.93582703e-03 5.69283408e+00] [ 4.97357083e-03 9.99986744e-01 1.33277476e-03 -4.43600712e-01] [ 3.92915324e-03 -1.35232311e-03 9.99991366e-01 -1.81607986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28719347 meters Centerline goodness [0,1] 0.8957581132155149 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.44, Z:-1.82 [[ 9.99980200e-01 -4.74376399e-03 -4.13477718e-03 5.69329381e+00] [ 4.74711903e-03 9.99988411e-01 8.01982274e-04 -4.40384376e-01] [ 4.13092484e-03 -8.21594674e-04 9.99991130e-01 -1.81616666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31719347 meters Centerline goodness [0,1] 0.9061082392657454 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.44, Z:-1.82 [[ 9.99989257e-01 -1.56561297e-03 -4.36280809e-03 5.69375481e+00] [ 1.58140178e-03 9.99992205e-01 3.61785936e-03 -4.37443503e-01] [ 4.35710992e-03 -3.62471985e-03 9.99983938e-01 -1.81612026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34719347 meters Centerline goodness [0,1] 0.9075993091537133 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.43, Z:-1.82 [[ 9.99988226e-01 -1.46626317e-03 -4.62574355e-03 5.69440808e+00] [ 1.47731341e-03 9.99996061e-01 2.38634556e-03 -4.32168580e-01] [ 4.62222632e-03 -2.39315114e-03 9.99986454e-01 -1.81631214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37719347 meters Centerline goodness [0,1] 0.9099285247422463 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.43, Z:-1.82 [[ 9.99985370e-01 1.62258778e-03 -5.16010463e-03 5.69578176e+00] [-1.60167910e-03 9.99990502e-01 4.05354308e-03 -4.25630517e-01] [ 5.16663285e-03 -4.04521895e-03 9.99978471e-01 -1.81689732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40719347 meters Centerline goodness [0,1] 0.9096370304793221 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.42, Z:-1.82 [[ 9.99983885e-01 1.32769703e-03 -5.51972744e-03 5.69670791e+00] [-1.31007582e-03 9.99994038e-01 3.19479533e-03 -4.23422570e-01] [ 5.52393625e-03 -3.18751258e-03 9.99979663e-01 -1.81720745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43719347 meters Centerline goodness [0,1] 0.9075255769190536 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.42, Z:-1.82 [[ 9.99981956e-01 1.06693853e-03 -5.91183437e-03 5.69772201e+00] [-1.05201561e-03 9.99996254e-01 2.52678077e-03 -4.21750681e-01] [ 5.91450815e-03 -2.52051584e-03 9.99979333e-01 -1.81748817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46719347 meters Centerline goodness [0,1] 0.9097136651281301 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.42, Z:-1.82 [[ 9.99980144e-01 6.86261140e-04 -6.26419599e-03 5.69859391e+00] [-6.76111294e-04 9.99998456e-01 1.62226897e-03 -4.19351365e-01] [ 6.26529961e-03 -1.61800146e-03 9.99979064e-01 -1.81767816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49719346999998 meters Centerline goodness [0,1] 0.9128006239065827 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.42, Z:-1.82 [[ 9.99979965e-01 5.26696809e-04 -6.30817273e-03 5.69843488e+00] [-5.20462914e-04 9.99999375e-01 9.89826063e-04 -4.16873519e-01] [ 6.30869013e-03 -9.86523062e-04 9.99979613e-01 -1.81731028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52719347 meters Centerline goodness [0,1] 0.9122351017670363 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.41, Z:-1.82 [[ 9.99977893e-01 -8.29780834e-05 -6.64876051e-03 5.69934691e+00] [ 8.20841598e-05 9.99999988e-01 -1.34722417e-04 -4.13660556e-01] [ 6.64877161e-03 1.34173681e-04 9.99977888e-01 -1.81759484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55719347 meters Centerline goodness [0,1] 0.912148235393093 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.41, Z:-1.82 [[ 9.99976767e-01 -5.58804097e-04 -6.79361044e-03 5.69916964e+00] [ 5.48754429e-04 9.99998753e-01 -1.48105637e-03 -4.08332803e-01] [ 6.79442959e-03 1.47729394e-03 9.99975826e-01 -1.81695287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58719347 meters Centerline goodness [0,1] 0.9129748832512937 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.41, Z:-1.82 [[ 9.99974963e-01 -8.35824472e-04 -7.02678382e-03 5.69959401e+00] [ 8.22167368e-04 9.99997768e-01 -1.94624225e-03 -4.06831815e-01] [ 7.02839485e-03 1.94041633e-03 9.99973418e-01 -1.81685376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61719347 meters Centerline goodness [0,1] 0.9081204244815292 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.41, Z:-1.82 [[ 9.99972663e-01 -1.30897537e-03 -7.27728574e-03 5.70001726e+00] [ 1.29151255e-03 9.99996277e-01 -2.40381598e-03 -4.05874561e-01] [ 7.28040518e-03 2.39435156e-03 9.99970631e-01 -1.81673065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64719347 meters Centerline goodness [0,1] 0.897544169240142 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.40, Z:-1.82 [[ 9.99961667e-01 -3.78642331e-03 -7.89474223e-03 5.70203763e+00] [ 3.75043438e-03 9.99982532e-01 -4.56842654e-03 -4.02979030e-01] [ 7.91190232e-03 4.53864270e-03 9.99958400e-01 -1.81772156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67719347 meters Centerline goodness [0,1] 0.8760306180545305 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.40, Z:-1.82 [[ 9.99954230e-01 -4.88318367e-03 -8.22752693e-03 5.70319891e+00] [ 4.83822747e-03 9.99973307e-01 -5.47519290e-03 -4.01344409e-01] [ 8.25404368e-03 5.43513566e-03 9.99951164e-01 -1.81840363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70719347 meters Centerline goodness [0,1] 0.8302528774258591 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.40, Z:-1.82 [[ 0.99994386 -0.00617997 -0.00860762 5.70458649] [ 0.00612278 0.99995911 -0.0066551 -0.39914761] [ 0.0086484 0.00660203 0.99994081 -1.81921184] [ 0. 0. 0. 1. ]] SLAMing on 143.73719347 meters Centerline goodness [0,1] 0.8068258238063215 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.40, Z:-1.82 [[ 0.9999339 -0.00732392 -0.0088634 5.70522569] [ 0.00725591 0.99994418 -0.00768084 -0.39697358] [ 0.00891916 0.00761602 0.99993122 -1.81927109] [ 0. 0. 0. 1. ]] SLAMing on 143.76719347 meters Centerline goodness [0,1] 0.780014287515233 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.39, Z:-1.82 [[ 0.99990636 -0.01090605 -0.00826654 5.70243535] [ 0.01081095 0.99987585 -0.01146344 -0.39082574] [ 0.00839053 0.011373 0.99990012 -1.81667624] [ 0. 0. 0. 1. ]] SLAMing on 143.79719347 meters Centerline goodness [0,1] 0.780014287515233 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.39, Z:-1.82 [[ 0.99990636 -0.01090605 -0.00826654 5.70243535] [ 0.01081095 0.99987585 -0.01146344 -0.39082574] [ 0.00839053 0.011373 0.99990012 -1.81667624] [ 0. 0. 0. 1. ]] SLAMing on 143.82719347 meters Centerline goodness [0,1] 0.7603469745256537 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.39, Z:-1.82 [[ 0.9998972 -0.01181408 -0.00812531 5.70115848] [ 0.01170877 0.99984839 -0.01288825 -0.38713135] [ 0.00827634 0.01279179 0.99988393 -1.81509723] [ 0. 0. 0. 1. ]] SLAMing on 143.85719347 meters Centerline goodness [0,1] 0.7527224658511509 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.39, Z:-1.82 [[ 9.99920843e-01 -1.25126312e-02 -1.32004330e-03 5.70805232e+00] [ 1.25074869e-02 9.99914421e-01 -3.83588858e-03 -3.85920874e-01] [ 1.36792739e-03 3.81907451e-03 9.99991772e-01 -1.81629715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88719347 meters Centerline goodness [0,1] 0.7381696850145846 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.38, Z:-1.82 [[ 9.99966341e-01 -8.13312188e-03 -1.08145626e-03 5.70721747e+00] [ 8.13274742e-03 9.99966867e-01 -3.50203979e-04 -3.77317507e-01] [ 1.08426868e-03 3.41396981e-04 9.99999354e-01 -1.81573416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91719347 meters Centerline goodness [0,1] 0.7702770886767859 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.37, Z:-1.82 [[ 9.99986914e-01 -4.94589067e-03 -1.30752703e-03 5.70811007e+00] [ 4.94856551e-03 9.99985654e-01 2.05047261e-03 -3.72645379e-01] [ 1.29736686e-03 -2.05691616e-03 9.99997043e-01 -1.81637811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94719347 meters Centerline goodness [0,1] 0.7753129390057241 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.37, Z:-1.82 [[ 9.99995110e-01 -2.59893026e-03 -1.73929624e-03 5.71012954e+00] [ 2.60502128e-03 9.99990451e-01 3.50894512e-03 -3.67164329e-01] [ 1.73016013e-03 -3.51345887e-03 9.99992331e-01 -1.81788767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97719347 meters Centerline goodness [0,1] 0.7699895068205667 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.36, Z:-1.82 [[ 9.99997630e-01 -3.20988988e-04 -2.15336450e-03 5.71194238e+00] [ 3.31596112e-04 9.99987806e-01 4.92729042e-03 -3.61712350e-01] [ 2.15175663e-03 -4.92799279e-03 9.99985542e-01 -1.81915939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00719347 meters Centerline goodness [0,1] 0.8086643355179128 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.35, Z:-1.82 [[ 9.99987198e-01 4.60863766e-03 -2.08922712e-03 5.71205490e+00] [-4.59158604e-03 9.99956699e-01 8.09430450e-03 -3.50346143e-01] [ 2.12644038e-03 -8.08460801e-03 9.99965058e-01 -1.81935350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03719347 meters Centerline goodness [0,1] 0.7853017159900023 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.34, Z:-1.82 [[ 9.99971147e-01 7.23046661e-03 -2.32927007e-03 5.71280347e+00] [-7.20759284e-03 9.99927140e-01 9.68325508e-03 -3.44089055e-01] [ 2.39911481e-03 -9.66618726e-03 9.99950403e-01 -1.81959901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06719347 meters Centerline goodness [0,1] 0.82715580054489 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.34, Z:-1.82 [[ 9.99946051e-01 1.00329923e-02 -2.68953521e-03 5.71391771e+00] [-1.00022326e-02 9.99887070e-01 1.12161507e-02 -3.37409884e-01] [ 2.80176303e-03 -1.11886442e-02 9.99933480e-01 -1.81999793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09719347 meters Centerline goodness [0,1] 0.8602091706824351 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.33, Z:-1.82 [[ 9.99908349e-01 1.31565639e-02 -3.19359579e-03 5.71538274e+00] [-1.31139667e-02 9.99829346e-01 1.30116281e-02 -3.31278984e-01] [ 3.36423910e-03 -1.29685548e-02 9.99910245e-01 -1.82048428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12719347 meters Centerline goodness [0,1] 0.9129969803724207 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.32, Z:-1.82 [[ 0.99975216 0.0211162 -0.00705162 5.72361514] [-0.02105738 0.99974369 0.00831482 -0.31774889] [ 0.00722539 -0.00816427 0.99994057 -1.81777196] [ 0. 0. 0. 1. ]] SLAMing on 144.15719347 meters Centerline goodness [0,1] 0.918421275156435 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.31, Z:-1.82 [[ 0.99966439 0.02485043 -0.00731935 5.72458197] [-0.02477097 0.99963531 0.01075381 -0.31293917] [ 0.00758391 -0.01056889 0.99991539 -1.81805651] [ 0. 0. 0. 1. ]] SLAMing on 144.18719347 meters Centerline goodness [0,1] 0.9179908714394388 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.31, Z:-1.82 [[ 0.99956505 0.02850578 -0.00755841 5.72559582] [-0.02840426 0.99950918 0.01321389 -0.30805601] [ 0.00793138 -0.01299345 0.99988413 -1.81838453] [ 0. 0. 0. 1. ]] SLAMing on 144.21719347 meters Centerline goodness [0,1] 0.9177538526493562 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.30, Z:-1.82 [[ 0.99920969 0.03899394 -0.00771111 5.72720258] [-0.03881587 0.99900348 0.02203107 -0.29959083] [ 0.0085625 -0.02171435 0.99972755 -1.81909019] [ 0. 0. 0. 1. ]] SLAMing on 144.24719346999998 meters Centerline goodness [0,1] 0.9163994550979776 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.29, Z:-1.82 [[ 9.99068079e-01 4.29402513e-02 -4.37141415e-03 5.73671981e+00] [-4.28714734e-02 9.98971421e-01 1.47694336e-02 -2.94321108e-01] [ 5.00112100e-03 -1.45682607e-02 9.99881370e-01 -1.82009917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27719347 meters Centerline goodness [0,1] 0.9155474283792588 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.29, Z:-1.82 [[ 9.99061141e-01 4.30739261e-02 -4.63388375e-03 5.73733794e+00] [-4.30065782e-02 9.98979953e-01 1.37654630e-02 -2.90756576e-01] [ 5.22208951e-03 -1.35532517e-02 9.99894514e-01 -1.82009161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30719347 meters Centerline goodness [0,1] 0.9160879991658847 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.29, Z:-1.82 [[ 9.99044165e-01 4.34179994e-02 -5.06302256e-03 5.73859236e+00] [-4.33470539e-02 9.98970629e-01 1.33684698e-02 -2.89042959e-01] [ 5.63824304e-03 -1.31362247e-02 9.99897820e-01 -1.82056045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33719347 meters Centerline goodness [0,1] 0.9163210744584552 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.29, Z:-1.82 [[ 9.99008449e-01 4.42106343e-02 -5.24766845e-03 5.73968485e+00] [-4.41377158e-02 9.98937172e-01 1.32811296e-02 -2.87909806e-01] [ 5.82925825e-03 -1.30363406e-02 9.99898032e-01 -1.82154118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36719347 meters Centerline goodness [0,1] 0.9161632532783262 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.29, Z:-1.82 [[ 9.99147694e-01 4.08921099e-02 -5.63214486e-03 5.74037236e+00] [-4.08396367e-02 9.99123942e-01 9.13634676e-03 -2.85829418e-01] [ 6.00081527e-03 -8.89854504e-03 9.99942401e-01 -1.82169221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39719347 meters Centerline goodness [0,1] 0.9178957099037774 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.28, Z:-1.82 [[ 9.99275944e-01 3.75825529e-02 -5.92788847e-03 5.74076764e+00] [-3.75518911e-02 9.99281141e-01 5.20166957e-03 -2.84381453e-01] [ 6.11911917e-03 -4.97529985e-03 9.99968901e-01 -1.82160465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42719347 meters Centerline goodness [0,1] 0.9175453796251294 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.28, Z:-1.82 [[ 9.99395857e-01 3.42120993e-02 -6.11987084e-03 5.74062268e+00] [-3.42035781e-02 9.99413773e-01 1.49170216e-03 -2.84176450e-01] [ 6.16731747e-03 -1.28147948e-03 9.99980161e-01 -1.82111600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45719347 meters Centerline goodness [0,1] 0.9167140480552572 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.29, Z:-1.82 [[ 9.99494464e-01 3.11258311e-02 -6.48068366e-03 5.74108326e+00] [-3.11305395e-02 9.99515131e-01 -6.26910806e-04 -2.89221356e-01] [ 6.45802826e-03 8.28341059e-04 9.99978804e-01 -1.82119401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48719347 meters Centerline goodness [0,1] 0.9152756968916838 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.29, Z:-1.82 [[ 9.99599094e-01 2.75145931e-02 -6.67827544e-03 5.74115246e+00] [-2.75415498e-02 9.99612742e-01 -3.97863001e-03 -2.91051054e-01] [ 6.56621883e-03 4.16096501e-03 9.99969785e-01 -1.82105871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51719347 meters Centerline goodness [0,1] 0.9150652531993073 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.30, Z:-1.82 [[ 9.99670679e-01 2.47571615e-02 -6.75392896e-03 5.74061690e+00] [-2.47930461e-02 9.99678650e-01 -5.28216499e-03 -2.98315034e-01] [ 6.62098717e-03 5.44787594e-03 9.99963241e-01 -1.82047398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54719347 meters Centerline goodness [0,1] 0.913447812578722 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.30, Z:-1.82 [[ 0.99974124 0.02163801 -0.0070178 5.7410164 ] [-0.02169387 0.99973279 -0.00798312 -0.30126802] [ 0.00684319 0.0081333 0.99994351 -1.82048238] [ 0. 0. 0. 1. ]] SLAMing on 144.57719347 meters Centerline goodness [0,1] 0.9119510090700562 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.30, Z:-1.82 [[ 0.99980414 0.01839975 -0.0072895 5.74127572] [-0.01847696 0.99977235 -0.01067039 -0.30455738] [ 0.00709151 0.01080299 0.9999165 -1.82030788] [ 0. 0. 0. 1. ]] SLAMing on 144.60719347 meters Centerline goodness [0,1] 0.9105497332517977 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.31, Z:-1.82 [[ 0.99985909 0.01500267 -0.00753175 5.74144908] [-0.0151031 0.99979535 -0.01345917 -0.30765147] [ 0.00732828 0.01357103 0.99988105 -1.82007855] [ 0. 0. 0. 1. ]] SLAMing on 144.63719347 meters Centerline goodness [0,1] 0.9110182899816467 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.31, Z:-1.82 [[ 0.99986033 0.01470424 -0.00794397 5.74208296] [-0.01480364 0.999811 -0.01260189 -0.311306 ] [ 0.00775717 0.01271773 0.99988904 -1.81997387] [ 0. 0. 0. 1. ]] SLAMing on 144.66719347 meters Centerline goodness [0,1] 0.9088848309300421 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.32, Z:-1.82 [[ 9.99935011e-01 1.02989346e-02 -4.88927630e-03 5.74900092e+00] [-1.03213934e-02 9.99936195e-01 -4.59069262e-03 -3.17810094e-01] [ 4.84168510e-03 4.64085842e-03 9.99977510e-01 -1.81922003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69719347 meters Centerline goodness [0,1] 0.9077255923374223 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.32, Z:-1.82 [[ 9.99932591e-01 1.04208321e-02 -5.12056118e-03 5.74948787e+00] [-1.04405713e-02 9.99938109e-01 -3.84339949e-03 -3.21067698e-01] [ 5.08019285e-03 3.89660200e-03 9.99979504e-01 -1.81934149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72719347 meters Centerline goodness [0,1] 0.908470722001137 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.32, Z:-1.82 [[ 9.99929998e-01 1.06344813e-02 -5.18727451e-03 5.74950253e+00] [-1.06506593e-02 9.99938471e-01 -3.10120884e-03 -3.23969745e-01] [ 5.15397559e-03 3.15623964e-03 9.99981737e-01 -1.81923960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75719347 meters Centerline goodness [0,1] 0.9085479578365012 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-1.82 [[ 9.99922506e-01 1.12464812e-02 -5.33837267e-03 5.75015368e+00] [-1.12558101e-02 9.99935171e-01 -1.72069890e-03 -3.28156542e-01] [ 5.31867478e-03 1.78065326e-03 9.99984270e-01 -1.81982902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78719347 meters Centerline goodness [0,1] 0.9061900647037747 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-1.82 [[ 9.99919610e-01 1.14538302e-02 -5.43902408e-03 5.75042389e+00] [-1.14603190e-02 9.99933652e-01 -1.16334941e-03 -3.29843597e-01] [ 5.42533840e-03 1.22558884e-03 9.99984532e-01 -1.81994011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81719347 meters Centerline goodness [0,1] 0.907400387498947 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-1.82 [[ 9.99916453e-01 1.16082234e-02 -5.68654638e-03 5.75132286e+00] [-1.16125105e-02 9.99932312e-01 -7.21466111e-04 -3.31377882e-01] [ 5.67778653e-03 7.87440914e-04 9.99983571e-01 -1.82047975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84719347 meters Centerline goodness [0,1] 0.9094027526411044 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-1.82 [[ 9.99885910e-01 1.37006705e-02 -6.36076736e-03 5.75343337e+00] [-1.36930069e-02 9.99905469e-01 1.24681174e-03 -3.34761059e-01] [ 6.37724823e-03 -1.15957146e-03 9.99978993e-01 -1.82161198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87719347 meters Centerline goodness [0,1] 0.9127456131133761 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.34, Z:-1.82 [[ 9.99871135e-01 1.45179901e-02 -6.85136091e-03 5.75497708e+00] [-1.45064498e-02 9.99893277e-01 1.73108402e-03 -3.35262840e-01] [ 6.87576157e-03 -1.63147203e-03 9.99975031e-01 -1.82239673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90719347 meters Centerline goodness [0,1] 0.91449336423004 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.34, Z:-1.82 [[ 9.99853414e-01 1.55204956e-02 -7.22948908e-03 5.75617554e+00] [-1.55046877e-02 9.99877292e-01 2.23752490e-03 -3.35325959e-01] [ 7.26332945e-03 -2.12510594e-03 9.99971364e-01 -1.82300981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93719347 meters Centerline goodness [0,1] 0.9170411629428022 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.34, Z:-1.82 [[ 9.99836464e-01 1.65353578e-02 -7.32300365e-03 5.75670470e+00] [-1.65147333e-02 9.99859509e-01 2.86796704e-03 -3.35935529e-01] [ 7.36939770e-03 -2.74656057e-03 9.99969074e-01 -1.82339688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96719347 meters Centerline goodness [0,1] 0.9253172281728078 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.34, Z:-1.82 [[ 9.99786115e-01 1.93879420e-02 -7.19939045e-03 5.75672778e+00] [-1.93469941e-02 9.99796499e-01 5.71442560e-03 -3.41418082e-01] [ 7.30871632e-03 -5.57391680e-03 9.99957756e-01 -1.82364041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99719346999998 meters Centerline goodness [0,1] 0.9265041330961599 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.34, Z:-1.82 [[ 0.99977058 0.02013743 -0.00729889 5.75722309] [-0.0200871 0.99977439 0.00690466 -0.34461761] [ 0.00743629 -0.00675646 0.99994952 -1.82397732] [ 0. 0. 0. 1. ]] SLAMing on 145.02719347 meters Centerline goodness [0,1] 0.9296049730138396 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.35, Z:-1.82 [[ 9.99820186e-01 1.74973872e-02 -7.31001132e-03 5.75715711e+00] [-1.74678001e-02 9.99839053e-01 4.09192013e-03 -3.46009006e-01] [ 7.38043270e-03 -3.96349453e-03 9.99964909e-01 -1.82389429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05719347 meters Centerline goodness [0,1] 0.9285354383607659 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.35, Z:-1.82 [[ 9.99847390e-01 1.58846372e-02 -7.27157083e-03 5.75672408e+00] [-1.58591472e-02 9.99867935e-01 3.54977057e-03 -3.54015283e-01] [ 7.32699732e-03 -3.43390793e-03 9.99967261e-01 -1.82340114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08719347 meters Centerline goodness [0,1] 0.9292597043877959 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.36, Z:-1.82 [[ 9.99886060e-01 1.32680117e-02 -7.19905856e-03 5.75603055e+00] [-1.32585234e-02 9.99911171e-01 1.36411201e-03 -3.58567313e-01] [ 7.21651813e-03 -1.26850769e-03 9.99973156e-01 -1.82275764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11719347 meters Centerline goodness [0,1] 0.9293482842930613 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.36, Z:-1.82 [[ 9.99919335e-01 1.05120016e-02 -7.12885177e-03 5.75593355e+00] [-1.05192089e-02 9.99944197e-01 -9.74261530e-04 -3.62895506e-01] [ 7.11821252e-03 1.04917282e-03 9.99974115e-01 -1.82284617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14719347 meters Centerline goodness [0,1] 0.9272356698604808 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.37, Z:-1.82 [[ 9.99927330e-01 9.22175609e-03 -7.76489826e-03 5.75822902e+00] [-9.23665647e-03 9.99955564e-01 -1.88527074e-03 -3.67787594e-01] [ 7.74716771e-03 1.95685544e-03 9.99968076e-01 -1.82424463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17719347 meters Centerline goodness [0,1] 0.9271503618219794 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.37, Z:-1.82 [[ 9.99942364e-01 7.58583204e-03 -7.59757727e-03 5.75751400e+00] [-7.61027080e-03 9.99965944e-01 -3.19292188e-03 -3.72103091e-01] [ 7.57309755e-03 3.25055748e-03 9.99966040e-01 -1.82382232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20719347 meters Centerline goodness [0,1] 0.9289480871446879 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.38, Z:-1.82 [[ 9.99947555e-01 6.72652378e-03 -7.72280157e-03 5.75783140e+00] [-6.74117844e-03 9.99975524e-01 -1.87312305e-03 -3.84425342e-01] [ 7.71001294e-03 1.92508559e-03 9.99968424e-01 -1.82374265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23719347 meters Centerline goodness [0,1] 0.9312906803959733 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.39, Z:-1.82 [[ 9.99960204e-01 4.41637348e-03 -7.75155830e-03 5.75727353e+00] [-4.43941224e-03 9.99985772e-01 -2.95745939e-03 -3.91267065e-01] [ 7.73838677e-03 2.99175406e-03 9.99965583e-01 -1.82290838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26719347 meters Centerline goodness [0,1] 0.9299411429656351 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.40, Z:-1.82 [[ 9.99968742e-01 2.00633655e-03 -7.64788903e-03 5.75610990e+00] [-2.03666747e-03 9.99990084e-01 -3.96019707e-03 -3.98567302e-01] [ 7.63986771e-03 3.97564949e-03 9.99962913e-01 -1.82153907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29719347 meters Centerline goodness [0,1] 0.934722486119028 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.42, Z:-1.82 [[ 9.99972214e-01 -1.59781798e-03 -7.28139969e-03 5.75593536e+00] [ 1.60812187e-03 9.99997714e-01 1.40946169e-03 -4.17419655e-01] [ 7.27913098e-03 -1.42113190e-03 9.99972497e-01 -1.82138423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32719347 meters Centerline goodness [0,1] 0.9324740528225466 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.43, Z:-1.82 [[ 9.99963982e-01 -3.94117406e-03 -7.51671152e-03 5.75678676e+00] [ 3.94646537e-03 9.99991975e-01 6.89237782e-04 -4.25668515e-01] [ 7.51393479e-03 -7.18877399e-04 9.99971512e-01 -1.82167725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35719347 meters Centerline goodness [0,1] 0.9308057873059458 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.43, Z:-1.82 [[ 9.99951415e-01 -6.22702897e-03 -7.64146594e-03 5.75701931e+00] [ 6.22706391e-03 9.99980611e-01 -1.92203629e-05 -4.34231955e-01] [ 7.64143747e-03 -2.83644676e-05 9.99970803e-01 -1.82144703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38719347 meters Centerline goodness [0,1] 0.929771152634894 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.44, Z:-1.82 [[ 9.99958295e-01 -9.10617710e-03 -6.97445875e-04 5.76819786e+00] [ 9.10932680e-03 9.99947677e-01 4.65449619e-03 -4.44570741e-01] [ 6.55024716e-04 -4.66065533e-03 9.99988925e-01 -1.82483823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41719347 meters Centerline goodness [0,1] 0.9260449485402227 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.46, Z:-1.82 [[ 9.99918177e-01 -1.27891033e-02 -2.79882484e-04 5.76690563e+00] [ 1.27900937e-02 9.99910672e-01 3.88101162e-03 -4.61392501e-01] [ 2.30222824e-04 -3.88427379e-03 9.99992430e-01 -1.82313491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44719347 meters Centerline goodness [0,1] 0.9283540744160668 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.47, Z:-1.82 [[ 9.99889858e-01 -1.48296847e-02 -5.94311821e-04 5.76809118e+00] [ 1.48313743e-02 9.99885665e-01 2.94725198e-03 -4.67702592e-01] [ 5.50537053e-04 -2.95574182e-03 9.99995480e-01 -1.82353151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47719347 meters Centerline goodness [0,1] 0.9260492864219912 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.47, Z:-1.82 [[ 9.99899009e-01 -1.41890456e-02 -8.01700306e-04 5.76878471e+00] [ 1.41931039e-02 9.99885194e-01 5.30604786e-03 -4.74910151e-01] [ 7.26320511e-04 -5.31689062e-03 9.99985601e-01 -1.82355318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50719347 meters Centerline goodness [0,1] 0.9263614904737818 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.49, Z:-1.82 [[ 9.99886386e-01 -1.49679332e-02 -1.78203092e-03 5.77190360e+00] [ 1.49796810e-02 9.99864863e-01 6.77241355e-03 -4.88169948e-01] [ 1.68042106e-03 -6.79833837e-03 9.99975479e-01 -1.82480294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53719347 meters Centerline goodness [0,1] 0.9255841392242379 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.50, Z:-1.83 [[ 9.99859237e-01 -1.65935423e-02 -2.48214269e-03 5.77449669e+00] [ 1.66084464e-02 9.99843404e-01 6.10952304e-03 -4.95047846e-01] [ 2.38037537e-03 -6.14988758e-03 9.99978256e-01 -1.82615705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56719347 meters Centerline goodness [0,1] 0.9212714141753443 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.50, Z:-1.83 [[ 9.99817329e-01 -1.88567826e-02 -3.11928870e-03 5.77708850e+00] [ 1.88720014e-02 9.99809785e-01 4.92365454e-03 -5.01612818e-01] [ 3.02585108e-03 -4.98162235e-03 9.99983014e-01 -1.82753252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59719347 meters Centerline goodness [0,1] 0.9196664203525811 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.51, Z:-1.83 [[ 9.99756853e-01 -2.17879690e-02 -3.39413381e-03 5.77849250e+00] [ 2.17986183e-02 9.99757473e-01 3.13282880e-03 -5.07644813e-01] [ 3.32505267e-03 -3.20605448e-03 9.99989333e-01 -1.82828591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62719347 meters Centerline goodness [0,1] 0.9157685643041291 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.52, Z:-1.83 [[ 9.99607414e-01 -2.77468327e-02 -3.88987842e-03 5.78135235e+00] [ 2.77441615e-02 9.99614783e-01 -7.39003260e-04 -5.17854119e-01] [ 3.90888498e-03 6.30791723e-04 9.99992161e-01 -1.83005660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65719347 meters Centerline goodness [0,1] 0.9158369895376308 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.52, Z:-1.83 [[ 9.99609603e-01 -2.76213197e-02 -4.20758117e-03 5.78219798e+00] [ 2.76254122e-02 9.99617924e-01 9.17640995e-04 -5.23970579e-01] [ 4.18062710e-03 -1.03351892e-03 9.99990727e-01 -1.82987661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68719347 meters Centerline goodness [0,1] 0.9153490532182137 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-1.83 [[ 9.99621946e-01 -2.71515782e-02 -4.33080972e-03 5.78229719e+00] [ 2.71632066e-02 9.99627502e-01 2.64919284e-03 -5.29277932e-01] [ 4.25726673e-03 -2.76582999e-03 9.99987113e-01 -1.82930223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71719347 meters Centerline goodness [0,1] 0.9182880194982561 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-1.83 [[ 9.99644329e-01 -2.62797473e-02 -4.53759585e-03 5.78220566e+00] [ 2.63001457e-02 9.99643982e-01 4.49583507e-03 -5.34058503e-01] [ 4.41783097e-03 -4.61357547e-03 9.99979599e-01 -1.82826744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74719346999998 meters Centerline goodness [0,1] 0.9182880194982561 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.53, Z:-1.83 [[ 9.99644329e-01 -2.62797473e-02 -4.53759585e-03 5.78220566e+00] [ 2.63001457e-02 9.99643982e-01 4.49583507e-03 -5.34058503e-01] [ 4.41783097e-03 -4.61357547e-03 9.99979599e-01 -1.82826744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77719347 meters Centerline goodness [0,1] 0.9182120880047205 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.54, Z:-1.83 [[ 9.99662886e-01 -2.55362002e-02 -4.69230224e-03 5.78183144e+00] [ 2.55617425e-02 9.99658299e-01 5.46656702e-03 -5.35796813e-01] [ 4.55110352e-03 -5.58466759e-03 9.99974049e-01 -1.82726653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80719347 meters Centerline goodness [0,1] 0.9197575194322406 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.54, Z:-1.83 [[ 9.99682268e-01 -2.47228291e-02 -4.91372365e-03 5.78178774e+00] [ 2.47541468e-02 9.99672965e-01 6.41829639e-03 -5.37683897e-01] [ 4.75343824e-03 -6.53789212e-03 9.99967330e-01 -1.82659140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83719347 meters Centerline goodness [0,1] 0.9193841344935372 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.54, Z:-1.83 [[ 9.99693324e-01 -2.42191029e-02 -5.16647382e-03 5.78250382e+00] [ 2.42547256e-02 9.99681670e-01 6.94749828e-03 -5.38862685e-01] [ 4.99656699e-03 -7.07067906e-03 9.99962519e-01 -1.82681875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86719347 meters Centerline goodness [0,1] 0.9197407039844592 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-1.83 [[ 0.99972862 -0.02249657 -0.00604918 5.78544358] [ 0.02254808 0.99970888 0.00858687 -0.54044317] [ 0.00585424 -0.00872093 0.99994484 -1.82858275] [ 0. 0. 0. 1. ]] SLAMing on 145.89719347 meters Centerline goodness [0,1] 0.9245466252876475 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-1.83 [[ 0.99980427 -0.018584 -0.00678682 5.78854664] [ 0.01866825 0.99974673 0.0125688 -0.54203764] [ 0.00655153 -0.01269304 0.99989798 -1.83096539] [ 0. 0. 0. 1. ]] SLAMing on 145.92719347 meters Centerline goodness [0,1] 0.9259603012213387 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-1.83 [[ 0.99981253 -0.0180268 -0.00706733 5.78934985] [ 0.01811842 0.99974975 0.01312076 -0.54292382] [ 0.00682903 -0.01324635 0.99988894 -1.83130029] [ 0. 0. 0. 1. ]] SLAMing on 145.95719347 meters Centerline goodness [0,1] 0.9247248220057888 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.54, Z:-1.83 [[ 0.9998188 -0.01756285 -0.0073427 5.78962816] [ 0.01766297 0.99974874 0.01380121 -0.54466191] [ 0.00709846 -0.0139284 0.9998778 -1.83081977] [ 0. 0. 0. 1. ]] SLAMing on 145.98719347 meters Centerline goodness [0,1] 0.9284251852164552 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.55, Z:-1.83 [[ 0.99980087 -0.01556481 -0.01248827 5.79618915] [ 0.01569519 0.99982261 0.01041156 -0.55127534] [ 0.012324 -0.01060549 0.99986781 -1.8254058 ] [ 0. 0. 0. 1. ]] SLAMing on 146.01719347 meters Centerline goodness [0,1] 0.9274428011629376 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.55, Z:-1.83 [[ 0.99978132 -0.01629561 -0.01310575 5.79857181] [ 0.01642903 0.99981363 0.01013826 -0.55437225] [ 0.0129381 -0.01035136 0.99986272 -1.82662421] [ 0. 0. 0. 1. ]] SLAMing on 146.04719347 meters Centerline goodness [0,1] 0.9267386900742741 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.56, Z:-1.83 [[ 0.99976608 -0.01673699 -0.01369874 5.8010217 ] [ 0.01687642 0.9998063 0.01012674 -0.55696956] [ 0.0135266 -0.01035556 0.99985489 -1.82809682] [ 0. 0. 0. 1. ]] SLAMing on 146.07719347 meters Centerline goodness [0,1] 0.9278441975412952 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.56, Z:-1.83 [[ 0.99975732 -0.01690215 -0.01412872 5.80323855] [ 0.01705008 0.99980038 0.01041599 -0.55921986] [ 0.01394984 -0.01065436 0.99984593 -1.82972675] [ 0. 0. 0. 1. ]] SLAMing on 146.10719347 meters Centerline goodness [0,1] 0.927493722171812 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.56, Z:-1.83 [[ 0.99974489 -0.01715838 -0.01468857 5.80596566] [ 0.01731591 0.99979319 0.01066515 -0.56191519] [ 0.01450254 -0.01091677 0.99983524 -1.83162997] [ 0. 0. 0. 1. ]] SLAMing on 146.13719347 meters Centerline goodness [0,1] 0.924875390724001 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.57, Z:-1.83 [[ 0.99969202 -0.01948836 -0.01536484 5.80959763] [ 0.01963976 0.99975943 0.00976536 -0.57112837] [ 0.01517083 -0.01006411 0.99983427 -1.83413494] [ 0. 0. 0. 1. ]] SLAMing on 146.16719347 meters Centerline goodness [0,1] 0.924487298506203 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.58, Z:-1.83 [[ 0.99961646 -0.02289986 -0.01557308 5.81046866] [ 0.02301525 0.99970867 0.00727091 -0.57604209] [ 0.01540204 -0.00762654 0.9998523 -1.83424481] [ 0. 0. 0. 1. ]] SLAMing on 146.19719347 meters Centerline goodness [0,1] 0.9239357548384374 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.58, Z:-1.83 [[ 9.99528344e-01 -2.64390390e-02 -1.56226414e-02 5.81084006e+00] [ 2.65181705e-02 9.99636421e-01 4.87988329e-03 -5.81575209e-01] [ 1.54879419e-02 -5.29186553e-03 9.99866051e-01 -1.83394082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22719347 meters Centerline goodness [0,1] 0.9185565268803582 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.59, Z:-1.83 [[ 9.99308198e-01 -3.38603373e-02 -1.53818889e-02 5.81096667e+00] [ 3.38625402e-02 9.99426493e-01 -1.17286496e-04 -5.90367114e-01] [ 1.53770386e-02 -4.03664473e-04 9.99881685e-01 -1.83316923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25719347 meters Centerline goodness [0,1] 0.9179452688217243 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.59, Z:-1.83 [[ 9.99153927e-01 -3.80317737e-02 -1.56529122e-02 5.81227199e+00] [ 3.79835002e-02 9.99272684e-01 -3.36992714e-03 -5.93030997e-01] [ 1.57696919e-02 2.77252354e-03 9.99871807e-01 -1.83351593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28719347 meters Centerline goodness [0,1] 0.9112545466013497 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.60, Z:-1.83 [[ 0.99898668 -0.04211834 -0.01586399 5.81342214] [ 0.04201741 0.9990948 -0.00664277 -0.59545161] [ 0.01612941 0.00596947 0.99985209 -1.83379067] [ 0. 0. 0. 1. ]] SLAMing on 146.31719347 meters Centerline goodness [0,1] 0.9102742910274291 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.60, Z:-1.83 [[ 0.99866806 -0.04904709 -0.01601554 5.81503423] [ 0.04885107 0.99872898 -0.01240965 -0.60157404] [ 0.01660384 0.01161074 0.99979473 -1.83433879] [ 0. 0. 0. 1. ]] SLAMing on 146.34719347 meters Centerline goodness [0,1] 0.9073057432432432 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.61, Z:-1.83 [[ 0.99867838 -0.04869026 -0.01645462 5.81596866] [ 0.04850924 0.99875963 -0.01122734 -0.60593179] [ 0.01698087 0.0104143 0.99980158 -1.83412608] [ 0. 0. 0. 1. ]] SLAMing on 146.37719347 meters Centerline goodness [0,1] 0.9097084928279981 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.61, Z:-1.83 [[ 0.99869591 -0.04821838 -0.01677669 5.81677225] [ 0.04804737 0.99879038 -0.01045152 -0.60861038] [ 0.01726036 0.00963181 0.99980464 -1.83419156] [ 0. 0. 0. 1. ]] SLAMing on 146.40719347 meters Centerline goodness [0,1] 0.914432449428781 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.61, Z:-1.84 [[ 0.99898469 -0.04375126 -0.01074332 5.82904608] [ 0.04359028 0.99894005 -0.01478718 -0.60935037] [ 0.01137889 0.01430387 0.99983295 -1.83774752] [ 0. 0. 0. 1. ]] SLAMing on 146.43719347 meters Centerline goodness [0,1] 0.9163902913031539 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.61, Z:-1.83 [[ 0.9992638 -0.03696404 -0.01027246 5.82531755] [ 0.03688491 0.99928916 -0.00778932 -0.61256535] [ 0.01055308 0.00740469 0.9999169 -1.8344838 ] [ 0. 0. 0. 1. ]] SLAMing on 146.46719347 meters Centerline goodness [0,1] 0.9194782390568168 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.61, Z:-1.83 [[ 9.99488253e-01 -3.10558334e-02 -7.66602499e-03 5.84352659e+00] [ 3.10150873e-02 9.99504448e-01 -5.37803809e-03 -6.13834918e-01] [ 7.82924553e-03 5.13752346e-03 9.99956153e-01 -1.83464156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49719346999998 meters Centerline goodness [0,1] 0.9186083289404323 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:-1.83 [[ 9.99616920e-01 -2.65092348e-02 -7.95443138e-03 5.84351552e+00] [ 2.65087981e-02 9.99648567e-01 -1.60347602e-04 -6.16546689e-01] [ 7.95588662e-03 -5.05762388e-05 9.99968350e-01 -1.83386679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52719347 meters Centerline goodness [0,1] 0.9186756534048892 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.62, Z:-1.83 [[ 9.99709769e-01 -2.25534298e-02 -8.46885000e-03 5.84420148e+00] [ 2.25931746e-02 9.99734034e-01 4.62707455e-03 -6.19914554e-01] [ 8.36224117e-03 -4.81706983e-03 9.99953433e-01 -1.83329314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55719347 meters Centerline goodness [0,1] 0.9202889394322298 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.63, Z:-1.83 [[ 0.99972624 -0.0217252 -0.00868677 5.84429765] [ 0.02177974 0.99974336 0.00623374 -0.62535472] [ 0.00854911 -0.00642123 0.99994284 -1.83249209] [ 0. 0. 0. 1. ]] SLAMing on 146.58719347 meters Centerline goodness [0,1] 0.9223601834209258 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:-1.83 [[ 0.99971854 -0.02192891 -0.00905359 5.84540634] [ 0.02199029 0.99973549 0.00673684 -0.62852748] [ 0.00890346 -0.00693403 0.99993632 -1.83258669] [ 0. 0. 0. 1. ]] SLAMing on 146.61719347 meters Centerline goodness [0,1] 0.9220490444924587 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.63, Z:-1.83 [[ 0.99971575 -0.02194037 -0.00932965 5.84625427] [ 0.02201134 0.99972903 0.00757387 -0.63249792] [ 0.00916095 -0.00777708 0.99992779 -1.8326609 ] [ 0. 0. 0. 1. ]] SLAMing on 146.64719347 meters Centerline goodness [0,1] 0.9246102896196764 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.64, Z:-1.83 [[ 0.99966384 -0.02417797 -0.00936093 5.84755201] [ 0.02423893 0.99968536 0.00645457 -0.63923893] [ 0.00920193 -0.0066793 0.99993535 -1.83376924] [ 0. 0. 0. 1. ]] SLAMing on 146.67719347 meters Centerline goodness [0,1] 0.9225772434883476 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.64, Z:-1.83 [[ 0.99965585 -0.02428931 -0.0099101 5.84926576] [ 0.02436073 0.99967766 0.00715061 -0.64254171] [ 0.00973322 -0.00738956 0.99992533 -1.83433944] [ 0. 0. 0. 1. ]] SLAMing on 146.70719347 meters Centerline goodness [0,1] 0.9251865083534727 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.65, Z:-1.84 [[ 0.99962912 -0.02507277 -0.01062924 5.85193879] [ 0.02514795 0.99965924 0.00699957 -0.64564915] [ 0.01045012 -0.00726427 0.99991901 -1.8356812 ] [ 0. 0. 0. 1. ]] SLAMing on 146.73719347 meters Centerline goodness [0,1] 0.9225640376418955 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.65, Z:-1.84 [[ 0.99962973 -0.02494948 -0.01085956 5.85251162] [ 0.02503866 0.99965322 0.00815521 -0.64992396] [ 0.01065233 -0.0084241 0.99990778 -1.8354034 ] [ 0. 0. 0. 1. ]] SLAMing on 146.76719347 meters Centerline goodness [0,1] 0.9233696226614523 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.66, Z:-1.84 [[ 9.99512498e-01 -2.92271032e-02 -1.09792138e-02 5.85383811e+00] [ 2.92888246e-02 9.99555839e-01 5.50354123e-03 -6.55121547e-01] [ 1.08134847e-02 -5.82242651e-03 9.99924581e-01 -1.83590224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79719347 meters Centerline goodness [0,1] 0.9211336510480368 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.66, Z:-1.84 [[ 9.99473919e-01 -3.02705378e-02 -1.16438429e-02 5.85645882e+00] [ 3.03345444e-02 9.99525429e-01 5.36022983e-03 -6.57414308e-01] [ 1.14760600e-02 -5.71062058e-03 9.99917841e-01 -1.83717260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82719347 meters Centerline goodness [0,1] 0.9222238651486027 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.66, Z:-1.84 [[ 0.99946522 -0.03040859 -0.01202464 5.85732387] [ 0.03048252 0.99951721 0.00601335 -0.66031724] [ 0.01183598 -0.00637668 0.99990962 -1.83697239] [ 0. 0. 0. 1. ]] SLAMing on 146.85719347 meters Centerline goodness [0,1] 0.9207782594903247 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.66, Z:-1.84 [[ 0.99944465 -0.03086822 -0.01255206 5.85860716] [ 0.03094619 0.99950264 0.00606623 -0.66274893] [ 0.01235856 -0.0064513 0.99990282 -1.83694304] [ 0. 0. 0. 1. ]] SLAMing on 146.88719347 meters Centerline goodness [0,1] 0.9221098660836294 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.66, Z:-1.84 [[ 9.99537109e-01 -2.95471824e-02 -7.24783280e-03 5.87039775e+00] [ 2.95267331e-02 9.99559748e-01 -2.91241933e-03 -6.62249711e-01] [ 7.33069571e-03 2.69706637e-03 9.99969493e-01 -1.84076756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91719347 meters Centerline goodness [0,1] 0.9241881062842683 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.66, Z:-1.84 [[ 9.99638984e-01 -2.58124994e-02 -7.45760981e-03 5.87072036e+00] [ 2.58237716e-02 9.99665503e-01 1.41916441e-03 -6.63384288e-01] [ 7.41848309e-03 -1.61123568e-03 9.99971185e-01 -1.84049478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94719347 meters Centerline goodness [0,1] 0.9231029023746702 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.66, Z:-1.84 [[ 9.99698572e-01 -2.31017342e-02 -8.31113128e-03 5.87343266e+00] [ 2.31391998e-02 9.99722392e-01 4.44031627e-03 -6.62861729e-01] [ 8.20624504e-03 -4.63129076e-03 9.99955603e-01 -1.84185082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97719347 meters Centerline goodness [0,1] 0.9250938699742649 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.66, Z:-1.84 [[ 0.99974403 -0.02074621 -0.00902632 5.87633936] [ 0.02080995 0.99975876 0.00702641 -0.66250987] [ 0.00887837 -0.00721245 0.99993458 -1.84372678] [ 0. 0. 0. 1. ]] SLAMing on 147.00719347 meters Centerline goodness [0,1] 0.9266204045474679 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.66, Z:-1.84 [[ 0.99975546 -0.02014536 -0.00912103 5.87600788] [ 0.02020991 0.99977097 0.00704092 -0.6609486 ] [ 0.0089771 -0.00722353 0.99993361 -1.84324968] [ 0. 0. 0. 1. ]] SLAMing on 147.03719347 meters Centerline goodness [0,1] 0.9304509295013821 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.66, Z:-1.84 [[ 0.99975105 -0.020202 -0.00947208 5.87626079] [ 0.02026855 0.99977018 0.00698306 -0.66123259] [ 0.00932883 -0.00717331 0.99993076 -1.8425347 ] [ 0. 0. 0. 1. ]] SLAMing on 147.06719347 meters Centerline goodness [0,1] 0.9334247442252926 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.66, Z:-1.84 [[ 9.99830489e-01 -1.59316981e-02 -9.22901215e-03 5.88389533e+00] [ 1.59198227e-02 9.99872348e-01 -1.35878918e-03 -6.61755184e-01] [ 9.24948187e-03 1.21163461e-03 9.99956489e-01 -1.84063534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09719347 meters Centerline goodness [0,1] 0.9337279602283499 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.66, Z:-1.84 [[ 9.99831414e-01 -1.57037459e-02 -9.51508581e-03 5.88399892e+00] [ 1.56944808e-02 9.99876285e-01 -1.04762555e-03 -6.62000052e-01] [ 9.53036030e-03 8.98114606e-04 9.99954182e-01 -1.83989575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12719347 meters Centerline goodness [0,1] 0.9358549507144818 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.66, Z:-1.84 [[ 9.99882044e-01 -1.20159729e-02 -9.56635888e-03 5.88455510e+00] [ 1.20456376e-02 9.99922799e-01 3.04938053e-03 -6.62178457e-01] [ 9.52897907e-03 -3.16425373e-03 9.99949592e-01 -1.84033146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15719347 meters Centerline goodness [0,1] 0.9338614279678918 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.66, Z:-1.84 [[ 9.99881348e-01 -1.19261022e-02 -9.74977471e-03 5.88516658e+00] [ 1.19572855e-02 9.99923559e-01 3.14634996e-03 -6.61673626e-01] [ 9.71150574e-03 -3.26255748e-03 9.99947520e-01 -1.84068830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18719347 meters Centerline goodness [0,1] 0.9353511917317021 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.66, Z:-1.84 [[ 9.99868151e-01 -1.25049370e-02 -1.03589068e-02 5.88716027e+00] [ 1.25332833e-02 9.99917874e-01 2.67602706e-03 -6.61547367e-01] [ 1.03245926e-02 -2.80550534e-03 9.99942764e-01 -1.84165593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21719347 meters Centerline goodness [0,1] 0.9356432521077308 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.66, Z:-1.84 [[ 9.99853798e-01 -1.30811269e-02 -1.10121330e-02 5.88915696e+00] [ 1.31071973e-02 9.99911455e-01 2.29858440e-03 -6.62486150e-01] [ 1.09810898e-02 -2.44258654e-03 9.99936723e-01 -1.84244628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24719346999998 meters Centerline goodness [0,1] 0.9356243033502282 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.67, Z:-1.84 [[ 9.99852748e-01 -1.29559720e-02 -1.12528059e-02 5.88982649e+00] [ 1.29892381e-02 9.99911465e-01 2.88821544e-03 -6.65003575e-01] [ 1.12143900e-02 -3.03395552e-03 9.99932514e-01 -1.84248408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27719347 meters Centerline goodness [0,1] 0.9361027094481694 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.67, Z:-1.84 [[ 9.99847623e-01 -1.30842176e-02 -1.15557294e-02 5.89069370e+00] [ 1.31226494e-02 9.99908592e-01 3.25623363e-03 -6.66589011e-01] [ 1.15120679e-02 -3.40737924e-03 9.99927928e-01 -1.84271264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30719347 meters Centerline goodness [0,1] 0.9337552742616033 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.67, Z:-1.84 [[ 9.99816600e-01 -1.45857972e-02 -1.24105064e-02 5.89418237e+00] [ 1.46141012e-02 9.99890803e-01 2.19302244e-03 -6.67149773e-01] [ 1.23771643e-02 -2.37398863e-03 9.99920582e-01 -1.84486720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33719347 meters Centerline goodness [0,1] 0.9306987037622511 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.67, Z:-1.85 [[ 9.99796845e-01 -1.53400387e-02 -1.30748553e-02 5.89679318e+00] [ 1.53659166e-02 9.99880168e-01 1.88105510e-03 -6.67933011e-01] [ 1.30444331e-02 -2.08158010e-03 9.99912751e-01 -1.84640090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36719347 meters Centerline goodness [0,1] 0.930632431863622 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.67, Z:-1.85 [[ 9.99786053e-01 -1.59217651e-02 -1.32039679e-02 5.89743294e+00] [ 1.59521913e-02 9.99870331e-01 2.20220449e-03 -6.69597988e-01] [ 1.31671927e-02 -2.41236556e-03 9.99910399e-01 -1.84638290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39719347 meters Centerline goodness [0,1] 0.9297773479385236 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.67, Z:-1.85 [[ 0.9998476 -0.01573761 -0.00755721 5.90972782] [ 0.0156868 0.99985427 -0.00673574 -0.66850782] [ 0.00766212 0.00661617 0.99994876 -1.84998477] [ 0. 0. 0. 1. ]] SLAMing on 147.42719347 meters Centerline goodness [0,1] 0.9226583426486407 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.67, Z:-1.85 [[ 0.99977729 -0.01970826 -0.00754692 5.90903412] [ 0.01963283 0.99975783 -0.00994153 -0.67118344] [ 0.00774102 0.00979115 0.9999221 -1.84847683] [ 0. 0. 0. 1. ]] SLAMing on 147.45719347 meters Centerline goodness [0,1] 0.9195156996154333 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.67, Z:-1.85 [[ 0.99976879 -0.02002137 -0.00784271 5.90970245] [ 0.01994618 0.99975543 -0.00955113 -0.67314919] [ 0.00803202 0.00939249 0.99992363 -1.84827994] [ 0. 0. 0. 1. ]] SLAMing on 147.48719347 meters Centerline goodness [0,1] 0.9170620611121655 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.67, Z:-1.85 [[ 0.9997563 -0.02051647 -0.00814983 5.91068392] [ 0.02043871 0.99974585 -0.00951253 -0.67382484] [ 0.00834292 0.00934364 0.99992154 -1.84854579] [ 0. 0. 0. 1. ]] SLAMing on 147.51719347 meters Centerline goodness [0,1] 0.9112071692145493 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.67, Z:-1.85 [[ 9.99802400e-01 -1.81244181e-02 -8.16492463e-03 5.91141224e+00] [ 1.80759206e-02 9.99818765e-01 -5.97487895e-03 -6.74008826e-01] [ 8.27173606e-03 5.82610978e-03 9.99948816e-01 -1.84862697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54719347 meters Centerline goodness [0,1] 0.9110164154666442 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.67, Z:-1.85 [[ 9.99827232e-01 -1.62684930e-02 -8.99119257e-03 5.91460989e+00] [ 1.62349283e-02 9.99861008e-01 -3.79353352e-03 -6.73670941e-01] [ 9.05165794e-03 3.64690675e-03 9.99952383e-01 -1.85042370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57719347 meters Centerline goodness [0,1] 0.9123224244975271 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.67, Z:-1.85 [[ 9.99871875e-01 -1.28819095e-02 -9.50215112e-03 5.91579429e+00] [ 1.28821958e-02 9.99917021e-01 -3.10725321e-05 -6.73904816e-01] [ 9.50176291e-03 -9.13400203e-05 9.99954853e-01 -1.85048451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60719347 meters Centerline goodness [0,1] 0.9123224244975271 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.67, Z:-1.85 [[ 9.99871875e-01 -1.28819095e-02 -9.50215112e-03 5.91579429e+00] [ 1.28821958e-02 9.99917021e-01 -3.10725321e-05 -6.73904816e-01] [ 9.50176291e-03 -9.13400203e-05 9.99954853e-01 -1.85048451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63719347 meters Centerline goodness [0,1] 0.90905441098785 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.67, Z:-1.85 [[ 9.99871154e-01 -1.28185608e-02 -9.66224398e-03 5.91580232e+00] [ 1.28150636e-02 9.99917794e-01 -4.23771986e-04 -6.71827832e-01] [ 9.66688183e-03 2.99895113e-04 9.99953230e-01 -1.85011661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66719347 meters Centerline goodness [0,1] 0.9032940782029253 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.67, Z:-1.85 [[ 9.99947849e-01 -9.30794100e-03 -4.20261351e-03 5.92862435e+00] [ 9.28478011e-03 9.99941784e-01 -5.49734807e-03 -6.66376131e-01] [ 4.25353784e-03 5.45804103e-03 9.99976058e-01 -1.85190927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69719347 meters Centerline goodness [0,1] 0.9079460839116587 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.67, Z:-1.85 [[ 9.99972022e-01 -5.85340390e-03 -4.65747218e-03 5.92926140e+00] [ 5.84513828e-03 9.99981322e-01 -1.78633955e-03 -6.65796879e-01] [ 4.66784135e-03 1.75906601e-03 9.99987558e-01 -1.85127505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72719347 meters Centerline goodness [0,1] 0.9115934134998115 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.66, Z:-1.85 [[ 9.99965281e-01 -6.46512697e-03 -5.25724773e-03 5.93100817e+00] [ 6.45025280e-03 9.99975160e-01 -2.84132002e-03 -6.63279047e-01] [ 5.27548664e-03 2.80731080e-03 9.99982144e-01 -1.85206283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75719347 meters Centerline goodness [0,1] 0.9096853117354257 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.66, Z:-1.85 [[ 9.99963416e-01 -6.53191745e-03 -5.52275702e-03 5.93141911e+00] [ 6.51415748e-03 9.99973574e-01 -3.22767656e-03 -6.61381219e-01] [ 5.54369399e-03 3.19158237e-03 9.99979540e-01 -1.85196423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78719347 meters Centerline goodness [0,1] 0.9071386380896127 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.66, Z:-1.85 [[ 9.99979034e-01 -3.20880706e-03 -5.62447307e-03 5.93171581e+00] [ 3.21190108e-03 9.99994695e-01 5.41153435e-04 -6.61384862e-01] [ 5.62270678e-03 -5.59207340e-04 9.99984036e-01 -1.85167820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81719347 meters Centerline goodness [0,1] 0.9101069101490837 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.66, Z:-1.85 [[ 9.99980946e-01 -6.39412544e-04 -6.13987985e-03 5.93264082e+00] [ 6.56874236e-04 9.99995745e-01 2.84238413e-03 -6.57781231e-01] [ 6.13803627e-03 -2.84636311e-03 9.99977111e-01 -1.85131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84719347 meters Centerline goodness [0,1] 0.9097324626079629 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.66, Z:-1.85 [[ 9.99978967e-01 -9.84914235e-04 -6.41064707e-03 5.93332001e+00] [ 9.96845252e-04 9.99997777e-01 1.85819611e-03 -6.55080911e-01] [ 6.40880266e-03 -1.86454745e-03 9.99977725e-01 -1.85151703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87719347 meters Centerline goodness [0,1] 0.9088025876373107 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.65, Z:-1.85 [[ 9.99977208e-01 -1.17212952e-03 -6.64907910e-03 5.93389950e+00] [ 1.17932001e-03 9.99998724e-01 1.07760898e-03 -6.52761566e-01] [ 6.64780752e-03 -1.08542581e-03 9.99977314e-01 -1.85166832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90719347 meters Centerline goodness [0,1] 0.9159709924951513 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.65, Z:-1.85 [[ 9.99977349e-01 -1.98890362e-05 -6.73067324e-03 5.93275126e+00] [ 2.54148340e-05 9.99999663e-01 8.20902833e-04 -6.48686228e-01] [ 6.73065464e-03 -8.21055298e-04 9.99977012e-01 -1.85032429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93719347 meters Centerline goodness [0,1] 0.9204696640128397 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.65, Z:-1.85 [[ 9.99975525e-01 2.33256486e-04 -6.99243996e-03 5.93323792e+00] [-2.31015864e-04 9.99999922e-01 3.21240917e-04 -6.46093605e-01] [ 6.99251434e-03 -3.19617690e-04 9.99975501e-01 -1.85050985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96719347 meters Centerline goodness [0,1] 0.919877546711707 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.64, Z:-1.85 [[ 9.99974280e-01 5.14564137e-04 -7.15358488e-03 5.93364960e+00] [-5.16890133e-04 9.99999814e-01 -3.23306080e-04 -6.43083239e-01] [ 7.15341719e-03 3.26995382e-04 9.99974361e-01 -1.85090036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99719346999998 meters Centerline goodness [0,1] 0.9223472872138612 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.64, Z:-1.85 [[ 9.99972574e-01 8.81500481e-04 -7.35348280e-03 5.93411744e+00] [-8.88036249e-04 9.99999214e-01 -8.85581202e-04 -6.39368842e-01] [ 7.35269638e-03 8.92087073e-04 9.99972571e-01 -1.85122089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02719347 meters Centerline goodness [0,1] 0.927641435776235 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.63, Z:-1.85 [[ 9.99959899e-01 5.03792786e-03 -7.40403453e-03 5.93403816e+00] [-5.02256189e-03 9.99985198e-01 2.09248193e-03 -6.34668327e-01] [ 7.41446671e-03 -2.05521080e-03 9.99970400e-01 -1.85112086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05719347 meters Centerline goodness [0,1] 0.9270551991897367 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.63, Z:-1.85 [[ 9.99956953e-01 5.28332780e-03 -7.62751459e-03 5.93427782e+00] [-5.27050518e-03 9.99984665e-01 1.70022373e-03 -6.32812664e-01] [ 7.63638047e-03 -1.65994969e-03 9.99969465e-01 -1.85092922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08719347 meters Centerline goodness [0,1] 0.930872469081179 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.63, Z:-1.85 [[ 9.99953965e-01 5.44099528e-03 -7.90337246e-03 5.93436608e+00] [-5.43060061e-03 9.99984362e-01 1.33608566e-03 -6.31536506e-01] [ 7.91051850e-03 -1.29310409e-03 9.99967875e-01 -1.85036787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11719347 meters Centerline goodness [0,1] 0.9320175438596491 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.63, Z:-1.85 [[ 9.99951782e-01 5.76437092e-03 -7.95017902e-03 5.93405147e+00] [-5.75524877e-03 9.99982754e-01 1.16981513e-03 -6.30730332e-01] [ 7.95678516e-03 -1.12400346e-03 9.99967713e-01 -1.84975848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14719347 meters Centerline goodness [0,1] 0.9408827725098599 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.63, Z:-1.85 [[ 9.99937884e-01 7.93397961e-03 -7.82810907e-03 5.93191475e+00] [-7.91738072e-03 9.99966348e-01 2.14913744e-03 -6.29388532e-01] [ 7.84489685e-03 -2.08702583e-03 9.99967050e-01 -1.84742306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17719347 meters Centerline goodness [0,1] 0.9398342436576056 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.63, Z:-1.85 [[ 9.99933034e-01 8.44505897e-03 -7.91250827e-03 5.93178722e+00] [-8.42691165e-03 9.99961792e-01 2.32403753e-03 -6.28974207e-01] [ 7.93183258e-03 -2.25720389e-03 9.99965995e-01 -1.84707883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20719347 meters Centerline goodness [0,1] 0.9401890311628979 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.63, Z:-1.85 [[ 9.99932103e-01 8.11387531e-03 -8.36388206e-03 5.93382915e+00] [-8.09982573e-03 9.99965730e-01 1.71229976e-03 -6.28221547e-01] [ 8.37748881e-03 -1.64443751e-03 9.99963556e-01 -1.84868138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23719347 meters Centerline goodness [0,1] 0.9341996830427892 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.63, Z:-1.85 [[ 9.99908585e-01 9.81936050e-03 -9.29525406e-03 5.93942891e+00] [-9.78720015e-03 9.99945982e-01 3.49905793e-03 -6.28904384e-01] [ 9.32911046e-03 -3.40776355e-03 9.99950676e-01 -1.85380613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26719347 meters Centerline goodness [0,1] 0.9305317505660298 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.63, Z:-1.86 [[ 9.99909231e-01 9.08474976e-03 -9.94971295e-03 5.94244173e+00] [-9.05705997e-03 9.99954995e-01 2.82450712e-03 -6.29071850e-01] [ 9.97492511e-03 -2.73413560e-03 9.99946511e-01 -1.85619539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29719347 meters Centerline goodness [0,1] 0.927570977917981 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.63, Z:-1.86 [[ 9.99909202e-01 8.28706679e-03 -1.06260578e-02 5.94523699e+00] [-8.26300341e-03 9.99963201e-01 2.30647044e-03 -6.30335049e-01] [ 1.06447806e-02 -2.21845786e-03 9.99940882e-01 -1.85803160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32719347 meters Centerline goodness [0,1] 0.9264653342580333 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.63, Z:-1.86 [[ 9.99929497e-01 5.09048387e-03 -1.07278700e-02 5.94522206e+00] [-5.09961082e-03 9.99986658e-01 -8.23586011e-04 -6.32402875e-01] [ 1.07235344e-02 8.78235908e-04 9.99942116e-01 -1.85785514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35719347 meters Centerline goodness [0,1] 0.9330221358567083 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.64, Z:-1.86 [[ 9.99941132e-01 3.46616241e-03 -1.02819161e-02 5.94249683e+00] [-3.48183443e-03 9.99992803e-01 -1.50672290e-03 -6.42539533e-01] [ 1.02766196e-02 1.54243413e-03 9.99946005e-01 -1.85543048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38719347 meters Centerline goodness [0,1] 0.9278919009934332 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.65, Z:-1.86 [[ 9.99936501e-01 3.19083109e-03 -1.08079989e-02 5.94450591e+00] [-3.20350639e-03 9.99994201e-01 -1.15566064e-03 -6.45935061e-01] [ 1.08042487e-02 1.19021075e-03 9.99940924e-01 -1.85647563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41719347 meters Centerline goodness [0,1] 0.9295866860968552 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.65, Z:-1.86 [[ 9.99934313e-01 3.80744064e-03 -1.08107452e-02 5.94474218e+00] [-3.80834452e-03 9.99992746e-01 -6.30241981e-05 -6.48467495e-01] [ 1.08104268e-02 1.04191100e-04 9.99941560e-01 -1.85671990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44719347 meters Centerline goodness [0,1] 0.9356423067152172 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.65, Z:-1.86 [[ 9.99927986e-01 5.55681137e-03 -1.06369162e-02 5.94476708e+00] [-5.52922811e-03 9.99981279e-01 2.62081732e-03 -6.54621944e-01] [ 1.06512804e-02 -2.56181465e-03 9.99939992e-01 -1.85716798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47719347 meters Centerline goodness [0,1] 0.9353470111448835 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.66, Z:-1.86 [[ 9.99922411e-01 5.58451208e-03 -1.11348773e-02 5.94662821e+00] [-5.54839194e-03 9.99979254e-01 3.27213168e-03 -6.58542279e-01] [ 1.11529195e-02 -3.21009713e-03 9.99932652e-01 -1.85812564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50719347 meters Centerline goodness [0,1] 0.9272566632307466 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.66, Z:-1.86 [[ 9.99932380e-01 2.86527699e-03 -1.12705778e-02 5.94690961e+00] [-2.85672933e-03 9.99995620e-01 7.74430153e-04 -6.62091825e-01] [ 1.12727474e-02 -7.42180795e-04 9.99936185e-01 -1.85823020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53719347 meters Centerline goodness [0,1] 0.9294684364416584 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.67, Z:-1.85 [[ 9.99946023e-01 1.97414105e-03 -1.02007239e-02 5.94248417e+00] [-1.95963419e-03 9.99997055e-01 1.43193962e-03 -6.74676599e-01] [ 1.02035207e-02 -1.41187264e-03 9.99946946e-01 -1.85457885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56719347 meters Centerline goodness [0,1] 0.933575670477841 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.68, Z:-1.85 [[ 9.99951971e-01 -2.33149431e-04 -9.79798030e-03 5.94011072e+00] [ 2.33611529e-04 9.99999972e-01 4.60181766e-05 -6.80011665e-01] [ 9.79796930e-03 -4.83048876e-05 9.99951998e-01 -1.85220062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59719347 meters Centerline goodness [0,1] 0.9348677560646901 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.69, Z:-1.85 [[ 9.99953537e-01 -1.69306079e-04 -9.63823445e-03 5.93998195e+00] [ 1.83388303e-04 9.99998917e-01 1.46021418e-03 -6.86075882e-01] [ 9.63797678e-03 -1.46191388e-03 9.99952485e-01 -1.85154976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62719347 meters Centerline goodness [0,1] 0.9369813387253043 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.70, Z:-1.85 [[ 9.99953939e-01 -2.97317387e-03 -9.12581661e-03 5.93966661e+00] [ 2.98342503e-03 9.99994934e-01 1.10990657e-03 -6.95810786e-01] [ 9.12247043e-03 -1.13708164e-03 9.99957743e-01 -1.85128402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65719347 meters Centerline goodness [0,1] 0.9366858337689493 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.70, Z:-1.85 [[ 9.99942727e-01 -4.28620193e-03 -9.80666728e-03 5.94277284e+00] [ 4.29600270e-03 9.99990293e-01 9.78552360e-04 -7.00292464e-01] [ 9.80237781e-03 -1.02062578e-03 9.99951435e-01 -1.85305128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68719347 meters Centerline goodness [0,1] 0.9369741697416974 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.70, Z:-1.85 [[ 9.99921702e-01 -7.80779894e-03 -9.77896619e-03 5.94303938e+00] [ 7.79142834e-03 9.99968182e-01 -1.71104325e-03 -7.04163196e-01] [ 9.79201453e-03 1.63471717e-03 9.99950721e-01 -1.85328049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71719347 meters Centerline goodness [0,1] 0.9375355390350231 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.72, Z:-1.85 [[ 9.99849282e-01 -1.43147694e-02 -9.82350782e-03 5.94242334e+00] [ 1.42644294e-02 9.99884863e-01 -5.17551336e-03 -7.15995965e-01] [ 9.89646305e-03 5.03460659e-03 9.99938354e-01 -1.85038143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74719346999998 meters Centerline goodness [0,1] 0.9345916730005912 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.72, Z:-1.85 [[ 0.99979378 -0.01777053 -0.00982851 5.94228332] [ 0.01769622 0.99981455 -0.00759603 -0.72115024] [ 0.00996168 0.00742054 0.99992285 -1.84969281] [ 0. 0. 0. 1. ]] SLAMing on 148.77719347 meters Centerline goodness [0,1] 0.9341289782244556 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.73, Z:-1.85 [[ 0.99975694 -0.01944351 -0.01039253 5.94503886] [ 0.01935864 0.99977893 -0.00820553 -0.7255936 ] [ 0.01054978 0.00800235 0.99991233 -1.8512129 ] [ 0. 0. 0. 1. ]] SLAMing on 148.80719347 meters Centerline goodness [0,1] 0.9255437872438989 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.73, Z:-1.86 [[ 0.99967277 -0.02304678 -0.01109922 5.95022152] [ 0.02293128 0.99968271 -0.0104233 -0.73011988] [ 0.01133592 0.01016537 0.99988407 -1.85542005] [ 0. 0. 0. 1. ]] SLAMing on 148.83719347 meters Centerline goodness [0,1] 0.9212839048241269 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.73, Z:-1.86 [[ 0.99965115 -0.02363936 -0.01177947 5.95299711] [ 0.02351843 0.99967033 -0.01030107 -0.7326198 ] [ 0.01201909 0.01002045 0.99987756 -1.85715355] [ 0. 0. 0. 1. ]] SLAMing on 148.86719347 meters Centerline goodness [0,1] 0.9211536838551777 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.74, Z:-1.86 [[ 0.99962802 -0.02425089 -0.01247835 5.95579362] [ 0.02412386 0.99965662 -0.01023172 -0.73534888] [ 0.01272219 0.00992689 0.99986979 -1.85890077] [ 0. 0. 0. 1. ]] SLAMing on 148.89719347 meters Centerline goodness [0,1] 0.9177449168207024 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.74, Z:-1.86 [[ 0.99961139 -0.02465168 -0.01301428 5.95792811] [ 0.02452102 0.99964824 -0.01010565 -0.73762181] [ 0.01325882 0.0097826 0.99986424 -1.86016534] [ 0. 0. 0. 1. ]] SLAMing on 148.92719347 meters Centerline goodness [0,1] 0.916678971459911 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.74, Z:-1.86 [[ 0.99961559 -0.02437446 -0.01321179 5.95838204] [ 0.02425164 0.9996619 -0.00937824 -0.73999436] [ 0.01343591 0.00905423 0.99986874 -1.86005836] [ 0. 0. 0. 1. ]] SLAMing on 148.95719347 meters Centerline goodness [0,1] 0.9179809404126087 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.74, Z:-1.86 [[ 0.99972677 -0.02118607 -0.00987635 5.97472155] [ 0.02106262 0.99970075 -0.0124407 -0.74151177] [ 0.01013696 0.01222928 0.99987384 -1.86074138] [ 0. 0. 0. 1. ]] SLAMing on 148.98719347 meters Centerline goodness [0,1] 0.9171290533555561 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.75, Z:-1.86 [[ 0.99981802 -0.01623715 -0.01001383 5.97378766] [ 0.01617098 0.9998471 -0.00665407 -0.74551727] [ 0.01012034 0.00649093 0.99992772 -1.8587809 ] [ 0. 0. 0. 1. ]] SLAMing on 149.01719347 meters Centerline goodness [0,1] 0.9204969730208619 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.75, Z:-1.86 [[ 9.99875212e-01 -1.20376187e-02 -1.02301605e-02 5.97374593e+00] [ 1.20215725e-02 9.99926412e-01 -1.62856272e-03 -7.48258083e-01] [ 1.02490117e-02 1.50537688e-03 9.99946344e-01 -1.85768103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04719347 meters Centerline goodness [0,1] 0.9222243214308206 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.75, Z:-1.86 [[ 9.99955283e-01 -8.07070262e-03 -4.92903702e-03 5.98612087e+00] [ 8.03378197e-03 9.99939865e-01 -7.46485793e-03 -7.48580855e-01] [ 4.98898727e-03 7.42492531e-03 9.99959989e-01 -1.86185417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07719347 meters Centerline goodness [0,1] 0.9261052631578948 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.75, Z:-1.86 [[ 9.99978143e-01 -4.26918731e-03 -5.04842395e-03 5.98604291e+00] [ 4.25709301e-03 9.99988049e-01 -2.40398310e-03 -7.52507146e-01] [ 5.05862667e-03 2.38243895e-03 9.99984367e-01 -1.86052769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10719347 meters Centerline goodness [0,1] 0.9259686588768382 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.76, Z:-1.86 [[ 9.99981248e-01 -3.77871461e-03 -4.81914266e-03 5.98478712e+00] [ 3.77667068e-03 9.99992775e-01 -4.33156222e-04 -7.57589646e-01] [ 4.82074462e-03 4.14947785e-04 9.99988294e-01 -1.85802864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13719347 meters Centerline goodness [0,1] 0.9256611865618298 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.76, Z:-1.86 [[ 9.99982450e-01 -3.54761071e-03 -4.74486133e-03 5.98412080e+00] [ 3.54989382e-03 9.99993587e-01 4.72841439e-04 -7.59642724e-01] [ 4.74315344e-03 -4.89676894e-04 9.99988631e-01 -1.85678159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16719347 meters Centerline goodness [0,1] 0.9286865515436944 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.76, Z:-1.86 [[ 9.99979221e-01 -3.95984262e-03 -5.08705489e-03 5.98495791e+00] [ 3.96342336e-03 9.99991905e-01 6.94004435e-04 -7.61244640e-01] [ 5.08426556e-03 -7.14152166e-04 9.99986820e-01 -1.85648535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19719347 meters Centerline goodness [0,1] 0.9251716488856027 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.76, Z:-1.86 [[ 9.99957794e-01 -7.76744917e-03 -4.90686139e-03 5.98406995e+00] [ 7.75469423e-03 9.99966518e-01 -2.61310840e-03 -7.62310977e-01] [ 4.92699428e-03 2.57494690e-03 9.99984547e-01 -1.85532853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22719347 meters Centerline goodness [0,1] 0.9236103792078582 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.76, Z:-1.86 [[ 9.99951849e-01 -8.28195789e-03 -5.26397725e-03 5.98522439e+00] [ 8.26787186e-03 9.99962197e-01 -2.69208173e-03 -7.62662788e-01] [ 5.28607397e-03 2.64843021e-03 9.99982521e-01 -1.85561384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25719347 meters Centerline goodness [0,1] 0.9206965278506242 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.76, Z:-1.86 [[ 9.99943963e-01 -8.92855737e-03 -5.68787424e-03 5.98657262e+00] [ 8.91141534e-03 9.99955696e-01 -3.03203225e-03 -7.62447629e-01] [ 5.71469392e-03 2.98117533e-03 9.99979227e-01 -1.85606946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28719347 meters Centerline goodness [0,1] 0.9205279831045406 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.76, Z:-1.86 [[ 9.99926760e-01 -1.05082366e-02 -6.00435269e-03 5.98793344e+00] [ 1.04848993e-02 9.99937407e-01 -3.90508464e-03 -7.61920099e-01] [ 6.04501241e-03 3.84184359e-03 9.99974349e-01 -1.85622415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31719347 meters Centerline goodness [0,1] 0.917263073447759 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.76, Z:-1.86 [[ 9.99917889e-01 -1.11309530e-02 -6.34958872e-03 5.98871356e+00] [ 1.11044808e-02 9.99929568e-01 -4.18926131e-03 -7.61946467e-01] [ 6.39577197e-03 4.11840844e-03 9.99971066e-01 -1.85601336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34719347 meters Centerline goodness [0,1] 0.9156540084388186 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.76, Z:-1.86 [[ 9.99907112e-01 -1.18524139e-02 -6.72964541e-03 5.98984624e+00] [ 1.18208486e-02 9.99919034e-01 -4.71103793e-03 -7.61254350e-01] [ 6.78493771e-03 4.63105021e-03 9.99966258e-01 -1.85623199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37719347 meters Centerline goodness [0,1] 0.9116374306039305 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.76, Z:-1.86 [[ 9.99924114e-01 -1.00031378e-02 -7.19056511e-03 5.99239864e+00] [ 9.98826022e-03 9.99947907e-01 -2.10198565e-03 -7.61541482e-01] [ 7.21121698e-03 2.03000491e-03 9.99971938e-01 -1.85767436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40719347 meters Centerline goodness [0,1] 0.8993638062443572 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.76, Z:-1.86 [[ 9.99919536e-01 -9.69715686e-03 -8.17841648e-03 5.99763018e+00] [ 9.68680382e-03 9.99952231e-01 -1.30456146e-03 -7.56845647e-01] [ 8.19067634e-03 1.22523377e-03 9.99965705e-01 -1.86109707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43719347 meters Centerline goodness [0,1] 0.8882115111873161 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.75, Z:-1.86 [[ 9.99911511e-01 -1.03482693e-02 -8.35961922e-03 5.99838013e+00] [ 1.03293324e-02 9.99943994e-01 -2.30529451e-03 -7.53352105e-01] [ 8.38300684e-03 2.21874123e-03 9.99962400e-01 -1.86155599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46719347 meters Centerline goodness [0,1] 0.8838098439174001 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.75, Z:-1.86 [[ 9.99951690e-01 -8.21587184e-03 -5.39611951e-03 6.01535651e+00] [ 8.17166101e-03 9.99933279e-01 -8.16465255e-03 -7.49834110e-01] [ 5.46283922e-03 8.12016286e-03 9.99952109e-01 -1.86461850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49719346999998 meters Centerline goodness [0,1] 0.8873081875171497 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.75, Z:-1.86 [[ 9.99971079e-01 -4.94169129e-03 -5.78106145e-03 6.01599319e+00] [ 4.91475402e-03 9.99977043e-01 -4.66453485e-03 -7.48803472e-01] [ 5.80397943e-03 4.63598745e-03 9.99972410e-01 -1.86404745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52719347 meters Centerline goodness [0,1] 0.8873081875171497 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.75, Z:-1.86 [[ 9.99971079e-01 -4.94169129e-03 -5.78106145e-03 6.01599319e+00] [ 4.91475402e-03 9.99977043e-01 -4.66453485e-03 -7.48803472e-01] [ 5.80397943e-03 4.63598745e-03 9.99972410e-01 -1.86404745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55719347 meters Centerline goodness [0,1] 0.8931354281358517 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.75, Z:-1.86 [[ 9.99978615e-01 -1.90498793e-03 -6.25621712e-03 6.01713393e+00] [ 1.89189058e-03 9.99996008e-01 -2.09874426e-03 -7.45668601e-01] [ 6.26019022e-03 2.08686330e-03 9.99978227e-01 -1.86412192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58719347 meters Centerline goodness [0,1] 0.8910264523478041 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.74, Z:-1.87 [[ 9.99975198e-01 5.18395105e-04 -7.02380689e-03 6.02001761e+00] [-5.17958645e-04 9.99999864e-01 6.39589885e-05 -7.43216033e-01] [ 7.02383909e-03 -6.03193608e-05 9.99975331e-01 -1.86573093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61719347 meters Centerline goodness [0,1] 0.9007248061196458 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.74, Z:-1.87 [[ 9.99975257e-01 7.82717839e-04 -6.99089377e-03 6.02001128e+00] [-7.88517927e-04 9.99999347e-01 -8.26945464e-04 -7.38135526e-01] [ 6.99024194e-03 8.32437448e-04 9.99975221e-01 -1.86605276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64719347 meters Centerline goodness [0,1] 0.9091272176910787 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.73, Z:-1.87 [[ 9.99951963e-01 9.64151993e-03 -1.76430671e-03 6.03226331e+00] [-9.64714594e-03 9.99948318e-01 -3.20856230e-03 -7.28377282e-01] [ 1.73328011e-03 3.22542869e-03 9.99993296e-01 -1.86960865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67719347 meters Centerline goodness [0,1] 0.9119966176936899 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.73, Z:-1.87 [[ 9.99904770e-01 1.36839011e-02 -1.78944968e-03 6.03178430e+00] [-1.36835823e-02 9.99906357e-01 1.90278556e-04 -7.25108687e-01] [ 1.79188586e-03 -1.65774353e-04 9.99998381e-01 -1.86858787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70719347 meters Centerline goodness [0,1] 0.9128469435173842 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.72, Z:-1.87 [[ 9.99892469e-01 1.45374278e-02 -1.92705910e-03 6.03131054e+00] [-1.45376257e-02 9.99894319e-01 -8.87418953e-05 -7.20227210e-01] [ 1.92556536e-03 1.16747217e-04 9.99998139e-01 -1.86776468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73719347 meters Centerline goodness [0,1] 0.9131794080990304 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.72, Z:-1.87 [[ 9.99895163e-01 1.43242285e-02 -2.11647696e-03 6.03180047e+00] [-1.43270106e-02 9.99896511e-01 -1.30523760e-03 -7.15851232e-01] [ 2.09756141e-03 1.33542355e-03 9.99996908e-01 -1.86797680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76719347 meters Centerline goodness [0,1] 0.9117869603598302 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.71, Z:-1.87 [[ 9.99847145e-01 1.72814391e-02 -2.65291132e-03 6.03346172e+00] [-1.72789244e-02 9.99850240e-01 9.67937334e-04 -7.11393995e-01] [ 2.66924137e-03 -9.21949926e-04 9.99996013e-01 -1.86855373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79719347 meters Centerline goodness [0,1] 0.9072429072429072 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.71, Z:-1.87 [[ 9.99861660e-01 1.63291862e-02 -3.16533901e-03 6.03559905e+00] [-1.63308603e-02 9.99866516e-01 -5.03754538e-04 -7.08281435e-01] [ 3.15669058e-03 5.55377558e-04 9.99994863e-01 -1.87006459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82719347 meters Centerline goodness [0,1] 0.9077302008336491 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.70, Z:-1.87 [[ 9.99874281e-01 1.54563791e-02 -3.53871483e-03 6.03735950e+00] [-1.54635351e-02 9.99878424e-01 -2.00386299e-03 -7.04892848e-01] [ 3.50731214e-03 2.05833210e-03 9.99991731e-01 -1.87151055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85719347 meters Centerline goodness [0,1] 0.9067719661296112 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.70, Z:-1.87 [[ 9.99883574e-01 1.47518203e-02 -3.90147041e-03 6.03886268e+00] [-1.47654645e-02 9.99884888e-01 -3.49181853e-03 -7.00970573e-01] [ 3.84951062e-03 3.54901902e-03 9.99986293e-01 -1.87262699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88719347 meters Centerline goodness [0,1] 0.9064226007829859 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.69, Z:-1.87 [[ 9.99834856e-01 1.76663993e-02 -4.26132862e-03 6.04025847e+00] [-1.76740664e-02 9.99842238e-01 -1.76832776e-03 -6.94531001e-01] [ 4.22941636e-03 1.84335074e-03 9.99989357e-01 -1.87343959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91719347 meters Centerline goodness [0,1] 0.9068865996755777 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.69, Z:-1.87 [[ 9.99845279e-01 1.69690725e-02 -4.63344554e-03 6.04131221e+00] [-1.69843705e-02 9.99850367e-01 -3.28251541e-03 -6.90268161e-01] [ 4.57705098e-03 3.36070369e-03 9.99983878e-01 -1.87382737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94719347 meters Centerline goodness [0,1] 0.9066900663932 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.69, Z:-1.87 [[ 9.99854109e-01 1.63797318e-02 -4.84408808e-03 6.04170145e+00] [-1.64015732e-02 9.99855340e-01 -4.50406572e-03 -6.86763734e-01] [ 4.76961195e-03 4.58285928e-03 9.99978124e-01 -1.87370409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97719347 meters Centerline goodness [0,1] 0.9065438293207404 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.68, Z:-1.87 [[ 9.99868196e-01 1.54370712e-02 -5.02866112e-03 6.04161713e+00] [-1.54687984e-02 9.99860297e-01 -6.33268241e-03 -6.80874473e-01] [ 4.93020053e-03 6.40963508e-03 9.99967304e-01 -1.87278334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00719347 meters Centerline goodness [0,1] 0.9093298568034148 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.68, Z:-1.87 [[ 9.99877779e-01 1.46701539e-02 -5.40505530e-03 6.04239787e+00] [-1.47106558e-02 9.99863428e-01 -7.53136226e-03 -6.77736901e-01] [ 5.29383088e-03 7.60995368e-03 9.99957031e-01 -1.87265663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03719347 meters Centerline goodness [0,1] 0.9057076136578798 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.68, Z:-1.87 [[ 9.99884517e-01 1.40219918e-02 -5.85975586e-03 6.04341366e+00] [-1.40714947e-02 9.99864914e-01 -8.49388237e-03 -6.75202797e-01] [ 5.73986314e-03 8.57535699e-03 9.99946757e-01 -1.87266854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06719347 meters Centerline goodness [0,1] 0.90764821176421 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.67, Z:-1.87 [[ 9.99891173e-01 1.35168205e-02 -5.91084512e-03 6.04320641e+00] [-1.35729782e-02 9.99862122e-01 -9.56618213e-03 -6.71504410e-01] [ 5.78072578e-03 9.64536884e-03 9.99936773e-01 -1.87204289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09719347 meters Centerline goodness [0,1] 0.9086476560356291 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.67, Z:-1.87 [[ 9.99892399e-01 1.33703673e-02 -6.03524151e-03 6.04322957e+00] [-1.34304253e-02 9.99859573e-01 -1.00228726e-02 -6.69414640e-01] [ 5.90038451e-03 1.01028500e-02 9.99931557e-01 -1.87165293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12719347 meters Centerline goodness [0,1] 0.911425255828674 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.67, Z:-1.87 [[ 0.99984661 0.01635777 -0.00625922 6.04413094] [-0.01640021 0.99984245 -0.0067905 -0.66857596] [ 0.00614716 0.00689211 0.99995735 -1.87170494] [ 0. 0. 0. 1. ]] SLAMing on 150.15719347 meters Centerline goodness [0,1] 0.9132846776915289 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.66, Z:-1.87 [[ 9.99795958e-01 1.93352949e-02 -5.84702971e-03 6.04262413e+00] [-1.93618265e-02 9.99802345e-01 -4.51557752e-03 -6.63689510e-01] [ 5.75856399e-03 4.62786533e-03 9.99972711e-01 -1.87017434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18719347 meters Centerline goodness [0,1] 0.9137497380004191 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.66, Z:-1.87 [[ 9.99794018e-01 1.93329154e-02 -6.17739285e-03 6.04307874e+00] [-1.93646695e-02 9.99799364e-01 -5.12257475e-03 -6.61349977e-01] [ 6.07711914e-03 5.24114276e-03 9.99967799e-01 -1.86975705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21719347 meters Centerline goodness [0,1] 0.9138864886509727 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.66, Z:-1.87 [[ 9.99781654e-01 2.00281645e-02 -5.95958908e-03 6.04177867e+00] [-2.00574949e-02 9.99786805e-01 -4.90315450e-03 -6.60078907e-01] [ 5.86011735e-03 5.02161835e-03 9.99970221e-01 -1.86850977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24719346999998 meters Centerline goodness [0,1] 0.9161389409017273 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.66, Z:-1.87 [[ 9.99781337e-01 1.99304369e-02 -6.32898220e-03 6.04273321e+00] [-1.99653501e-02 9.99785534e-01 -5.50197406e-03 -6.58250655e-01] [ 6.21796810e-03 5.62713133e-03 9.99964836e-01 -1.86879530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27719347 meters Centerline goodness [0,1] 0.9149360184602475 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.66, Z:-1.87 [[ 9.99710741e-01 2.30252533e-02 -6.94779479e-03 6.04570349e+00] [-2.30446058e-02 9.99730742e-01 -2.71832258e-03 -6.56270236e-01] [ 6.88333398e-03 2.87764547e-03 9.99972169e-01 -1.87091166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30719347 meters Centerline goodness [0,1] 0.9161717148231913 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.65, Z:-1.87 [[ 9.99714698e-01 2.27526976e-02 -7.26893881e-03 6.04716351e+00] [-2.27771224e-02 9.99735137e-01 -3.29522354e-03 -6.54661634e-01] [ 7.19203831e-03 3.45984891e-03 9.99968152e-01 -1.87210597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33719347 meters Centerline goodness [0,1] 0.916794133053955 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.65, Z:-1.87 [[ 9.99726023e-01 2.19608643e-02 -8.09938782e-03 6.05025399e+00] [-2.19969743e-02 9.99748370e-01 -4.39653991e-03 -6.53239006e-01] [ 8.00079795e-03 4.57349738e-03 9.99957534e-01 -1.87416139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36719347 meters Centerline goodness [0,1] 0.9166227135593578 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.65, Z:-1.88 [[ 9.99728508e-01 2.16951790e-02 -8.49880312e-03 6.05170868e+00] [-2.17365606e-02 9.99752175e-01 -4.80737099e-03 -6.52760557e-01] [ 8.39240013e-03 4.99080058e-03 9.99952329e-01 -1.87505926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39719347 meters Centerline goodness [0,1] 0.9176284083703234 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.65, Z:-1.88 [[ 9.99734682e-01 2.12716738e-02 -8.83633610e-03 6.05263346e+00] [-2.13163800e-02 9.99760295e-01 -4.99635670e-03 -6.53433654e-01] [ 8.72793712e-03 5.18338978e-03 9.99948476e-01 -1.87528992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42719347 meters Centerline goodness [0,1] 0.9126006381674873 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.65, Z:-1.88 [[ 9.99746940e-01 2.03542890e-02 -9.57912381e-03 6.05461747e+00] [-2.04068631e-02 9.99777051e-01 -5.42302764e-03 -6.54179759e-01] [ 9.46660628e-03 5.61713515e-03 9.99939414e-01 -1.87587402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45719347 meters Centerline goodness [0,1] 0.9153058634402234 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 9.99763973e-01 1.92234745e-02 -1.01220217e-02 6.05639938e+00] [-1.92851759e-02 9.99795817e-01 -6.03383743e-03 -6.54806382e-01] [ 1.00039637e-02 6.22761825e-03 9.99930566e-01 -1.87658745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48719347 meters Centerline goodness [0,1] 0.9106218437678281 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.66, Z:-1.88 [[ 0.9997896 0.01735576 -0.01093308 6.05960364] [-0.0174348 0.99982225 -0.00717589 -0.65511952] [ 0.01080659 0.007365 0.99991448 -1.87836731] [ 0. 0. 0. 1. ]] SLAMing on 150.51719347 meters Centerline goodness [0,1] 0.9012742196192036 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.99979942 0.01641609 -0.01147271 6.06198543] [-0.01650916 0.99983119 -0.00806473 -0.65368634] [ 0.01133839 0.00825252 0.99990166 -1.87995845] [ 0. 0. 0. 1. ]] SLAMing on 150.54719347 meters Centerline goodness [0,1] 0.9091852291013806 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.99980229 0.01609839 -0.0116717 6.06283541] [-0.01619758 0.99983307 -0.00845354 -0.65253129] [ 0.01153366 0.00864092 0.99989615 -1.88050465] [ 0. 0. 0. 1. ]] SLAMing on 150.57719347 meters Centerline goodness [0,1] 0.9050458811918611 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.99980477 0.01564611 -0.01206711 6.06415009] [-0.01575418 0.99983616 -0.008914 -0.65179734] [ 0.01192566 0.00910236 0.99988746 -1.88103576] [ 0. 0. 0. 1. ]] SLAMing on 150.60719347 meters Centerline goodness [0,1] 0.9078304977279932 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.99984438 0.01334999 -0.01153251 6.06135572] [-0.01348231 0.99984329 -0.01147305 -0.65142154] [ 0.01137754 0.01162675 0.99986768 -1.87877274] [ 0. 0. 0. 1. ]] SLAMing on 150.63719347 meters Centerline goodness [0,1] 0.9092984293193718 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.99984507 0.01322588 -0.01161474 6.06096625] [-0.01335611 0.99984799 -0.01120752 -0.65212478] [ 0.01146475 0.01136091 0.99986974 -1.87752269] [ 0. 0. 0. 1. ]] SLAMing on 150.66719347 meters Centerline goodness [0,1] 0.9110984199505044 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.99985237 0.01296271 -0.01127874 6.05988375] [-0.01309177 0.99984879 -0.01144556 -0.65042531] [ 0.01112867 0.01159153 0.99987089 -1.87653796] [ 0. 0. 0. 1. ]] SLAMing on 150.69719347 meters Centerline goodness [0,1] 0.906089709762533 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.99980981 0.015403 -0.01196228 6.0623445 ] [-0.01550535 0.99984356 -0.00851085 -0.64987463] [ 0.01182932 0.00869471 0.99989223 -1.8774645 ] [ 0. 0. 0. 1. ]] SLAMing on 150.72719347 meters Centerline goodness [0,1] 0.9076307770441848 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 0.9998076 0.0154624 -0.01206969 6.06250519] [-0.01556946 0.99983982 -0.00882704 -0.6475796 ] [ 0.01193127 0.00901326 0.9998882 -1.87732083] [ 0. 0. 0. 1. ]] SLAMing on 150.75719347 meters Centerline goodness [0,1] 0.9057221394548545 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.88 [[ 9.99745832e-01 1.91306708e-02 -1.19284639e-02 6.06170361e+00] [-1.91942849e-02 9.99802034e-01 -5.24147917e-03 -6.46194518e-01] [ 1.18258295e-02 5.46910529e-03 9.99915116e-01 -1.87563355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78719347 meters Centerline goodness [0,1] 0.9057138027216635 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.65, Z:-1.87 [[ 9.99740276e-01 1.94083766e-02 -1.19455125e-02 6.06108436e+00] [-1.94716090e-02 9.99796887e-01 -5.20004805e-03 -6.45502535e-01] [ 1.18421617e-02 5.43129582e-03 9.99915129e-01 -1.87459505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81719347 meters Centerline goodness [0,1] 0.9039214441411128 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.64, Z:-1.87 [[ 9.99745911e-01 1.88831626e-02 -1.23101081e-02 6.06203290e+00] [-1.89563736e-02 9.99803151e-01 -5.85791580e-03 -6.44111656e-01] [ 1.21970689e-02 6.08978238e-03 9.99907069e-01 -1.87473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84719347 meters Centerline goodness [0,1] 0.9019411187028563 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.64, Z:-1.88 [[ 0.99975033 0.01826407 -0.01287213 6.06370281] [-0.01835063 0.99980957 -0.00663906 -0.64258269] [ 0.01274842 0.00687361 0.99989511 -1.87538765] [ 0. 0. 0. 1. ]] SLAMing on 150.87719347 meters Centerline goodness [0,1] 0.9010956470239858 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.64, Z:-1.88 [[ 0.99976443 0.01730923 -0.01309513 6.06488112] [-0.01741423 0.99981678 -0.00794665 -0.63871248] [ 0.01295518 0.00817282 0.99988268 -1.87624658] [ 0. 0. 0. 1. ]] SLAMing on 150.90719347 meters Centerline goodness [0,1] 0.9041793441514536 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.64, Z:-1.88 [[ 0.99977421 0.016175 -0.0137802 6.06697423] [-0.01630093 0.99982594 -0.00907583 -0.63658928] [ 0.013631 0.00929841 0.99986386 -1.87714068] [ 0. 0. 0. 1. ]] SLAMing on 150.93719347 meters Centerline goodness [0,1] 0.904168068640646 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:-1.88 [[ 0.99979669 0.01389703 -0.01460979 6.07004289] [-0.01405984 0.99983953 -0.01110081 -0.63421068] [ 0.01445318 0.01130396 0.99983165 -1.87870269] [ 0. 0. 0. 1. ]] SLAMing on 150.96719347 meters Centerline goodness [0,1] 0.9028845341667371 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:-1.88 [[ 0.99980245 0.01328273 -0.01478638 6.07064679] [-0.01345669 0.99984068 -0.01172757 -0.63268816] [ 0.01462825 0.01192423 0.9998219 -1.87885296] [ 0. 0. 0. 1. ]] SLAMing on 150.99719346999998 meters Centerline goodness [0,1] 0.9019562278181511 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:-1.88 [[ 0.99981634 0.01178728 -0.01511129 6.07212308] [-0.01199471 0.99983407 -0.01371001 -0.62760826] [ 0.01494717 0.01388875 0.99979182 -1.87958179] [ 0. 0. 0. 1. ]] SLAMing on 151.02719347 meters Centerline goodness [0,1] 0.8991593106347204 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.63, Z:-1.88 [[ 0.99978511 0.01343671 -0.01578589 6.07494686] [-0.01362341 0.99983781 -0.01177931 -0.62553502] [ 0.01562505 0.01199184 0.99980601 -1.88094183] [ 0. 0. 0. 1. ]] SLAMing on 151.05719347 meters Centerline goodness [0,1] 0.9038449357065941 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.62, Z:-1.88 [[ 0.99978004 0.01421584 -0.01542033 6.07459424] [-0.01438825 0.99983456 -0.01112758 -0.62140672] [ 0.01525959 0.01134701 0.99981918 -1.8808723 ] [ 0. 0. 0. 1. ]] SLAMing on 151.08719347 meters Centerline goodness [0,1] 0.9003799873337556 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.62, Z:-1.88 [[ 0.99973543 0.01668575 -0.01583213 6.07655189] [-0.01682914 0.99981817 -0.00896701 -0.61791369] [ 0.01567963 0.00923108 0.99983445 -1.88193838] [ 0. 0. 0. 1. ]] SLAMing on 151.11719347 meters Centerline goodness [0,1] 0.906557962639995 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.61, Z:-1.88 [[ 0.9996828 0.01891588 -0.01662805 6.07985142] [-0.01903872 0.99979239 -0.00726021 -0.613837 ] [ 0.01648726 0.00757449 0.99983539 -1.88380395] [ 0. 0. 0. 1. ]] SLAMing on 151.14719347 meters Centerline goodness [0,1] 0.9046080418989694 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.60, Z:-1.89 [[ 9.99533554e-01 2.52742755e-02 -1.71430580e-02 6.08260354e+00] [-2.53390123e-02 9.99672543e-01 -3.56959749e-03 -6.03548315e-01] [ 1.70472254e-02 4.00232063e-03 9.99846675e-01 -1.88632264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17719347 meters Centerline goodness [0,1] 0.9034186594813068 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.60, Z:-1.89 [[ 9.99442447e-01 2.82870427e-02 -1.77380639e-02 6.08489511e+00] [-2.83246747e-02 9.99597020e-01 -1.87385450e-03 -5.97856494e-01] [ 1.76779100e-02 2.37523462e-03 9.99840912e-01 -1.88751462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20719347 meters Centerline goodness [0,1] 0.9023662377243481 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.59, Z:-1.89 [[ 9.99336760e-01 3.16115357e-02 -1.80762297e-02 6.08612918e+00] [-3.16134689e-02 9.99500153e-01 1.78860666e-04 -5.92583267e-01] [ 1.80728484e-02 3.92710287e-04 9.99836596e-01 -1.88790621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23719347 meters Centerline goodness [0,1] 0.9018745905277173 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.59, Z:-1.89 [[ 9.99219538e-01 3.49342545e-02 -1.84367324e-02 6.08741447e+00] [-3.48973486e-02 9.99388210e-01 2.31980093e-03 -5.87819938e-01] [ 1.85064935e-02 -1.67459734e-03 9.99827338e-01 -1.88823934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26719347 meters Centerline goodness [0,1] 0.903391659437615 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.58, Z:-1.89 [[ 0.99896038 0.04172134 -0.01837075 6.0872694 ] [-0.04159939 0.99911005 0.0069715 -0.57941824] [ 0.01864526 -0.00620004 0.99980694 -1.88737419] [ 0. 0. 0. 1. ]] SLAMing on 151.29719347 meters Centerline goodness [0,1] 0.9004334496246961 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.57, Z:-1.89 [[ 9.98955882e-01 4.16697296e-02 -1.87290817e-02 6.08840911e+00] [-4.15729309e-02 9.99120177e-01 5.52849782e-03 -5.73993017e-01] [ 1.89429744e-02 -4.74410260e-03 9.99809310e-01 -1.88802227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32719347 meters Centerline goodness [0,1] 0.9020067596113224 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.57, Z:-1.89 [[ 9.98965036e-01 4.12672674e-02 -1.91277176e-02 6.09001635e+00] [-4.11950080e-02 9.99142479e-01 4.15665098e-03 -5.69360105e-01] [ 1.92828488e-02 -3.36438252e-03 9.99808408e-01 -1.88910315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35719347 meters Centerline goodness [0,1] 0.9008320026893016 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.56, Z:-1.89 [[ 9.99000215e-01 4.00382482e-02 -1.98873911e-02 6.09269063e+00] [-4.00011970e-02 9.99197082e-01 2.25752331e-03 -5.63945372e-01] [ 1.99618104e-02 -1.45974683e-03 9.99799678e-01 -1.89065873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38719347 meters Centerline goodness [0,1] 0.9016900637720203 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.56, Z:-1.89 [[ 9.99131661e-01 3.64508552e-02 -2.01806633e-02 6.09353501e+00] [-3.64910713e-02 9.99332653e-01 -1.62803460e-03 -5.61660768e-01] [ 2.01078525e-02 2.36303494e-03 9.99795024e-01 -1.89119008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41719347 meters Centerline goodness [0,1] 0.9016900637720203 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.56, Z:-1.89 [[ 9.99131661e-01 3.64508552e-02 -2.01806633e-02 6.09353501e+00] [-3.64910713e-02 9.99332653e-01 -1.62803460e-03 -5.61660768e-01] [ 2.01078525e-02 2.36303494e-03 9.99795024e-01 -1.89119008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44719347 meters Centerline goodness [0,1] 0.9014057710601416 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.56, Z:-1.89 [[ 9.99249989e-01 3.27331485e-02 -2.06881488e-02 6.09476167e+00] [-3.28569075e-02 9.99443979e-01 -5.67070058e-03 -5.60145569e-01] [ 2.04910259e-02 6.34619608e-03 9.99769895e-01 -1.89185857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47719347 meters Centerline goodness [0,1] 0.9002726753894608 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.56, Z:-1.89 [[ 0.99928829 0.03093055 -0.02159196 6.09852035] [-0.03108953 0.99949162 -0.00706667 -0.56149342] [ 0.02136241 0.00773293 0.99974189 -1.89446026] [ 0. 0. 0. 1. ]] SLAMing on 151.50719347 meters Centerline goodness [0,1] 0.9029271901088449 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.56, Z:-1.90 [[ 0.9992974 0.03027139 -0.02209854 6.10012841] [-0.03044205 0.99950894 -0.00742757 -0.56212785] [ 0.02186285 0.00809507 0.99972821 -1.89515831] [ 0. 0. 0. 1. ]] SLAMing on 151.53719347 meters Centerline goodness [0,1] 0.9043710671970032 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.56, Z:-1.90 [[ 0.99930956 0.02952895 -0.0225489 6.10164139] [-0.02971353 0.99952728 -0.0078947 -0.56217743] [ 0.02230511 0.00855926 0.99971457 -1.89582438] [ 0. 0. 0. 1. ]] SLAMing on 151.56719347 meters Centerline goodness [0,1] 0.903845340327425 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.56, Z:-1.90 [[ 0.99932092 0.02906053 -0.02265366 6.10219037] [-0.02925314 0.99953825 -0.00821797 -0.56156521] [ 0.02240438 0.00887508 0.9997096 -1.89609523] [ 0. 0. 0. 1. ]] SLAMing on 151.59719347 meters Centerline goodness [0,1] 0.9074331731174635 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.56, Z:-1.89 [[ 9.99485845e-01 2.53065048e-02 -1.96882062e-02 6.10760063e+00] [-2.53574821e-02 9.99675700e-01 -2.34386532e-03 -5.60346458e-01] [ 1.96225063e-02 2.84190355e-03 9.99803421e-01 -1.89283300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62719347 meters Centerline goodness [0,1] 0.9099816289038579 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.56, Z:-1.89 [[ 9.99563107e-01 2.21725401e-02 -1.95441693e-02 6.10612097e+00] [-2.22848353e-02 9.99736275e-01 -5.54674833e-03 -5.59236966e-01] [ 1.94160295e-02 5.97986359e-03 9.99793608e-01 -1.89136670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65719347 meters Centerline goodness [0,1] 0.9149548414198698 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.56, Z:-1.89 [[ 0.99966434 0.01622622 -0.02019713 6.10796733] [-0.01645894 0.99979943 -0.01141036 -0.55677279] [ 0.02000793 0.01173895 0.9997309 -1.89203534] [ 0. 0. 0. 1. ]] SLAMing on 151.68719347 meters Centerline goodness [0,1] 0.9141677897574124 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.56, Z:-1.89 [[ 0.99967609 0.01535897 -0.0202931 6.10850385] [-0.01560595 0.99980538 -0.01206901 -0.55617193] [ 0.02010379 0.01238179 0.99972123 -1.89227304] [ 0. 0. 0. 1. ]] SLAMing on 151.71719347 meters Centerline goodness [0,1] 0.9142575213621381 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.55, Z:-1.89 [[ 0.99968729 0.01415768 -0.02061254 6.10973327] [-0.01443249 0.99980812 -0.01324512 -0.55425461] [ 0.02042107 0.01353847 0.9996998 -1.89278616] [ 0. 0. 0. 1. ]] SLAMing on 151.74719346999998 meters Centerline goodness [0,1] 0.9105461591928723 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.55, Z:-1.89 [[ 0.99969286 0.01362139 -0.02070383 6.11017714] [-0.01391394 0.99980444 -0.01405257 -0.55170153] [ 0.02050837 0.01433633 0.99968689 -1.89290731] [ 0. 0. 0. 1. ]] SLAMing on 151.77719347 meters Centerline goodness [0,1] 0.9149300057008931 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.55, Z:-1.89 [[ 0.99965815 0.01612403 -0.02058169 6.11056825] [-0.01637936 0.99979021 -0.01229829 -0.54581471] [ 0.02037908 0.0126312 0.99971253 -1.89315363] [ 0. 0. 0. 1. ]] SLAMing on 151.80719347 meters Centerline goodness [0,1] 0.9154281371389967 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.54, Z:-1.89 [[ 0.99960203 0.0188563 -0.02098129 6.11258604] [-0.01906777 0.99976893 -0.00992484 -0.54326267] [ 0.0207893 0.01032096 0.99973061 -1.8944315 ] [ 0. 0. 0. 1. ]] SLAMing on 151.83719347 meters Centerline goodness [0,1] 0.9144947032117033 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.54, Z:-1.90 [[ 0.99953631 0.02145198 -0.02160951 6.11573118] [-0.02162565 0.99973543 -0.00783528 -0.54047051] [ 0.02143571 0.00829897 0.99973578 -1.89660171] [ 0. 0. 0. 1. ]] SLAMing on 151.86719347 meters Centerline goodness [0,1] 0.9133620870147816 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.54, Z:-1.90 [[ 9.99456024e-01 2.43320606e-02 -2.22622376e-02 6.11857419e+00] [-2.44607324e-02 9.99685519e-01 -5.52584864e-03 -5.37583307e-01] [ 2.21207813e-02 6.06739335e-03 9.99736894e-01 -1.89827628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89719347 meters Centerline goodness [0,1] 0.9111667122221989 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.53, Z:-1.90 [[ 9.99352065e-01 2.83235944e-02 -2.22086303e-02 6.11846986e+00] [-2.84028638e-02 9.99591235e-01 -3.26196852e-03 -5.30774178e-01] [ 2.21071615e-02 3.89064368e-03 9.99748036e-01 -1.89779975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92719347 meters Centerline goodness [0,1] 0.9119900644129163 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.53, Z:-1.90 [[ 9.99338124e-01 2.86623531e-02 -2.24005255e-02 6.11875301e+00] [-2.87577161e-02 9.99578620e-01 -3.94663550e-03 -5.26296841e-01] [ 2.22779665e-02 4.58821127e-03 9.99741287e-01 -1.89759999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95719347 meters Centerline goodness [0,1] 0.9113387347298603 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.52, Z:-1.90 [[ 9.99240289e-01 3.14797413e-02 -2.29754245e-02 6.12112614e+00] [-3.15250783e-02 9.99501659e-01 -1.61366827e-03 -5.23191267e-01] [ 2.29131771e-02 2.33674441e-03 9.99734728e-01 -1.89880289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98719347 meters Centerline goodness [0,1] 0.9091234046132173 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.52, Z:-1.90 [[ 9.99246056e-01 3.11332224e-02 -2.31957154e-02 6.12235330e+00] [-3.12056122e-02 9.99509161e-01 -2.76533547e-03 -5.19644969e-01] [ 2.30982362e-02 3.48708706e-03 9.99727119e-01 -1.89981598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01719347 meters Centerline goodness [0,1] 0.9114901294396542 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.52, Z:-1.90 [[ 9.99287843e-01 2.92177907e-02 -2.38773377e-02 6.12519555e+00] [-2.93514707e-02 9.99555274e-01 -5.26738215e-03 -5.15565695e-01] [ 2.37128176e-02 5.96446593e-03 9.99701019e-01 -1.90174613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04719347 meters Centerline goodness [0,1] 0.9138700576866394 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.51, Z:-1.90 [[ 9.99315943e-01 2.81892203e-02 -2.39377101e-02 6.12559024e+00] [-2.83423221e-02 9.99579780e-01 -6.08077094e-03 -5.14754513e-01] [ 2.37562388e-02 6.75506164e-03 9.99694959e-01 -1.90195015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07719347 meters Centerline goodness [0,1] 0.9157459728430463 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.51, Z:-1.90 [[ 0.99935408 0.02628026 -0.02451075 6.12755869] [-0.02646953 0.99962201 -0.00742984 -0.51387201] [ 0.02430622 0.00807383 0.99967196 -1.90282498] [ 0. 0. 0. 1. ]] SLAMing on 152.10719347 meters Centerline goodness [0,1] 0.902018740959688 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.51, Z:-1.91 [[ 9.99780239e-01 1.35539428e-02 -1.59926574e-02 6.12921999e+00] [-1.36308695e-02 9.99895998e-01 -4.71096345e-03 -5.09650557e-01] [ 1.59271420e-02 4.92792199e-03 9.99861011e-01 -1.90649907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13719347 meters Centerline goodness [0,1] 0.8444490905289568 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.51, Z:-1.91 [[ 0.99980866 0.01035137 -0.01659778 6.1320134 ] [-0.01047632 0.9999173 -0.00745899 -0.50726116] [ 0.0165192 0.00763145 0.99983442 -1.90817307] [ 0. 0. 0. 1. ]] SLAMing on 152.16719347 meters Centerline goodness [0,1] 0.847433740008414 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.50, Z:-1.91 [[ 0.9998246 0.00868382 -0.01659388 6.13231723] [-0.00883559 0.9999196 -0.0090952 -0.50444119] [ 0.01651356 0.00924022 0.99982094 -1.90837785] [ 0. 0. 0. 1. ]] SLAMing on 152.19719347 meters Centerline goodness [0,1] 0.8029464379669577 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.50, Z:-1.91 [[ 0.99983301 0.00666743 -0.01701435 6.13380878] [-0.00686026 0.99991262 -0.01130032 -0.50062945] [ 0.01693752 0.01141516 0.99979139 -1.90898944] [ 0. 0. 0. 1. ]] SLAMing on 152.22719347 meters Centerline goodness [0,1] 0.7441669647177631 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.49, Z:-1.91 [[ 9.99837853e-01 2.07624152e-03 -1.78873304e-02 6.13736561e+00] [-2.37313987e-03 9.99859510e-01 -1.65930430e-02 -4.92006268e-01] [ 1.78503663e-02 1.66328016e-02 9.99702313e-01 -1.91094552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25719347 meters Centerline goodness [0,1] 0.7273489932885906 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.49, Z:-1.91 [[ 9.99826413e-01 1.96645781e-03 -1.85277336e-02 6.14129873e+00] [-2.28482498e-03 9.99849840e-01 -1.71778072e-02 -4.87078066e-01] [ 1.84911720e-02 1.72171579e-02 9.99680772e-01 -1.91398189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28719347 meters Centerline goodness [0,1] 0.7149174528301887 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.48, Z:-1.92 [[ 9.99812010e-01 3.88286070e-03 -1.89965144e-02 6.14384498e+00] [-4.18660869e-03 9.99863609e-01 -1.59761169e-02 -4.80870585e-01] [ 1.89318904e-02 1.60526446e-02 9.99691901e-01 -1.91581623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31719347 meters Centerline goodness [0,1] 0.7153422304162913 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.46, Z:-1.92 [[ 9.99730098e-01 5.64503769e-03 -2.25358483e-02 6.15714159e+00] [-5.89234224e-03 9.99922986e-01 -1.09225504e-02 -4.64881642e-01] [ 2.24724545e-02 1.10523913e-02 9.99686368e-01 -1.91845471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34719347 meters Centerline goodness [0,1] 0.7205882352941176 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.46, Z:-1.92 [[ 0.9997025 0.00809448 -0.02300831 6.15940489] [-0.00831616 0.99991976 -0.00955538 -0.45783036] [ 0.02292912 0.00974388 0.99968961 -1.91986204] [ 0. 0. 0. 1. ]] SLAMing on 152.37719347 meters Centerline goodness [0,1] 0.7066207184628237 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.45, Z:-1.92 [[ 0.9996717 0.01021761 -0.02349678 6.16178239] [-0.0104182 0.99991019 -0.00843028 -0.4514348 ] [ 0.02340853 0.00867231 0.99968837 -1.92135213] [ 0. 0. 0. 1. ]] SLAMing on 152.40719347 meters Centerline goodness [0,1] 0.704517883288015 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.45, Z:-1.92 [[ 0.99963888 0.01225207 -0.02391664 6.16394291] [-0.01242574 0.9998974 -0.00712608 -0.44615084] [ 0.02382687 0.00742069 0.99968856 -1.92272596] [ 0. 0. 0. 1. ]] SLAMing on 152.43719347 meters Centerline goodness [0,1] 0.7317027123408362 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.43, Z:-1.92 [[ 0.99960881 0.0136817 -0.02439345 6.16623391] [-0.01387557 0.99987334 -0.00779575 -0.43441422] [ 0.0242837 0.00813117 0.99967204 -1.9240588 ] [ 0. 0. 0. 1. ]] SLAMing on 152.46719347 meters Centerline goodness [0,1] 0.692485695052171 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.43, Z:-1.92 [[ 0.9995682 0.01620703 -0.02451004 6.1666564 ] [-0.0163645 0.99984663 -0.00623791 -0.42836159] [ 0.02440518 0.00663631 0.99968012 -1.92398419] [ 0. 0. 0. 1. ]] SLAMing on 152.49719346999998 meters Centerline goodness [0,1] 0.7310736119252994 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.41, Z:-1.93 [[ 0.99963288 0.01988249 -0.01840653 6.17990399] [-0.02004208 0.99976277 -0.00852718 -0.41238084] [ 0.01823262 0.00889295 0.99979422 -1.92645404] [ 0. 0. 0. 1. ]] SLAMing on 152.52719347 meters Centerline goodness [0,1] 0.7369682192702203 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.41, Z:-1.93 [[ 0.9995698 0.02273994 -0.01852304 6.18021478] [-0.02287123 0.99971456 -0.00690707 -0.40584963] [ 0.01836068 0.00732774 0.99980458 -1.92610014] [ 0. 0. 0. 1. ]] SLAMing on 152.55719347 meters Centerline goodness [0,1] 0.8051150464813023 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.39, Z:-1.93 [[ 9.99428472e-01 2.81074364e-02 -1.87803559e-02 6.18098120e+00] [-2.81856905e-02 9.99595037e-01 -3.91513738e-03 -3.94553557e-01] [ 1.86627061e-02 4.44223707e-03 9.99815968e-01 -1.92551512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58719347 meters Centerline goodness [0,1] 0.7839656767897704 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.39, Z:-1.93 [[ 9.99426132e-01 2.79964780e-02 -1.90683751e-02 6.18211666e+00] [-2.81048325e-02 9.99590188e-01 -5.43828727e-03 -3.87877977e-01] [ 1.89083078e-02 5.97107990e-03 9.99803392e-01 -1.92584320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61719347 meters Centerline goodness [0,1] 0.8508517350157729 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.38, Z:-1.93 [[ 9.99345238e-01 3.04653742e-02 -1.95180864e-02 6.18408407e+00] [-3.05469960e-02 9.99525733e-01 -3.89738302e-03 -3.82403995e-01] [ 1.93900944e-02 4.49105008e-03 9.99801908e-01 -1.92672490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64719347 meters Centerline goodness [0,1] 0.8619855231041158 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.38, Z:-1.93 [[ 9.99264395e-01 3.28056420e-02 -1.98610019e-02 6.18617751e+00] [-3.28626724e-02 9.99456619e-01 -2.55185637e-03 -3.76097796e-01] [ 1.97664945e-02 3.20266481e-03 9.99799494e-01 -1.92799876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67719347 meters Centerline goodness [0,1] 0.803869610935857 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.37, Z:-1.93 [[ 9.99186044e-01 3.46798217e-02 -2.06048482e-02 6.18937841e+00] [-3.47197401e-02 9.99395835e-01 -1.58265960e-03 -3.69429659e-01] [ 2.05375131e-02 2.29676636e-03 9.99786445e-01 -1.92973127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70719347 meters Centerline goodness [0,1] 0.7875981983869278 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.36, Z:-1.93 [[ 9.99112251e-01 3.63405718e-02 -2.13089628e-02 6.19293931e+00] [-3.63629505e-02 9.99338429e-01 -6.63545985e-04 -3.63251319e-01] [ 2.12707518e-02 1.43781368e-03 9.99772718e-01 -1.93201042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73719347 meters Centerline goodness [0,1] 0.8154290289952798 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.35, Z:-1.93 [[ 9.99113025e-01 3.57427320e-02 -2.22625313e-02 6.19698370e+00] [-3.58177575e-02 9.99353894e-01 -2.98032849e-03 -3.53113539e-01] [ 2.21416222e-02 3.77507896e-03 9.99747717e-01 -1.93436938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76719347 meters Centerline goodness [0,1] 0.8659281411903458 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.35, Z:-1.93 [[ 9.99147778e-01 3.44629180e-02 -2.27162005e-02 6.19837421e+00] [-3.45840415e-02 9.99389481e-01 -4.96079853e-03 -3.48798732e-01] [ 2.25313682e-02 5.74218885e-03 9.99729646e-01 -1.93485636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79719347 meters Centerline goodness [0,1] 0.7466894039874523 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.34, Z:-1.94 [[ 0.99918561 0.03305963 -0.0231341 6.19964631] [-0.03322858 0.99942356 -0.00695706 -0.3443688 ] [ 0.02289076 0.00772011 0.99970816 -1.9352228 ] [ 0. 0. 0. 1. ]] SLAMing on 152.82719347 meters Centerline goodness [0,1] 0.7063990226640828 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.33, Z:-1.93 [[ 0.99921029 0.02855952 -0.02762506 6.20804002] [-0.02876071 0.99956242 -0.00691315 -0.33372927] [ 0.02741553 0.00770221 0.99959445 -1.93210696] [ 0. 0. 0. 1. ]] SLAMing on 152.85719347 meters Centerline goodness [0,1] 0.753301737756714 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.33, Z:-1.93 [[ 9.99145708e-01 2.55539064e-02 -3.24785006e-02 6.21758987e+00] [-2.57054430e-02 9.99660498e-01 -4.25673202e-03 -3.28726361e-01] [ 3.23586980e-02 5.08796978e-03 9.99463370e-01 -1.92952077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88719347 meters Centerline goodness [0,1] 0.7329486828528712 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-1.93 [[ 9.99161043e-01 2.43031339e-02 -3.29631373e-02 6.21905830e+00] [-2.45165946e-02 9.99680891e-01 -6.08703056e-03 -3.23487217e-01] [ 3.28046846e-02 6.89006768e-03 9.99438032e-01 -1.92991581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91719347 meters Centerline goodness [0,1] 0.7264861670922405 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-1.93 [[ 0.99918061 0.02325779 -0.0331239 6.21963679] [-0.0235298 0.99969235 -0.00784588 -0.31862198] [ 0.03293123 0.00861885 0.99942046 -1.92998656] [ 0. 0. 0. 1. ]] SLAMing on 152.94719347 meters Centerline goodness [0,1] 0.7346620596662734 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.32, Z:-1.93 [[ 9.99410749e-01 2.05137293e-02 -2.75198380e-02 6.22988996e+00] [-2.05649170e-02 9.99787274e-01 -1.57826542e-03 -3.15974981e-01] [ 2.74816077e-02 2.14327861e-03 9.99620012e-01 -1.93252908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97719347 meters Centerline goodness [0,1] 0.6758965524485809 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.30, Z:-1.94 [[ 0.99955654 0.02258476 -0.01940733 6.23870971] [-0.02274137 0.99971027 -0.00788728 -0.30497588] [ 0.01922358 0.00832513 0.99978055 -1.93530919] [ 0. 0. 0. 1. ]] SLAMing on 153.00719347 meters Centerline goodness [0,1] 0.7660514741471832 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.30, Z:-1.93 [[ 9.99488317e-01 2.54789127e-02 -1.93372625e-02 6.23857991e+00] [-2.56026921e-02 9.99653090e-01 -6.18070043e-03 -2.99172108e-01] [ 1.91730767e-02 6.67262384e-03 9.99793913e-01 -1.93470803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03719347 meters Centerline goodness [0,1] 0.762462108454025 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.29, Z:-1.93 [[ 9.99406595e-01 2.85188279e-02 -1.93166693e-02 6.23888484e+00] [-2.86105511e-02 9.99580556e-01 -4.48874905e-03 -2.92589508e-01] [ 1.91805532e-02 5.03874596e-03 9.99803339e-01 -1.93445303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06719347 meters Centerline goodness [0,1] 0.7936614827753109 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.28, Z:-1.93 [[ 9.99224439e-01 3.43121127e-02 -1.93183606e-02 6.23972875e+00] [-3.43367415e-02 9.99409874e-01 -9.44546122e-04 -2.81039773e-01] [ 1.92745509e-02 1.60714312e-03 9.99812937e-01 -1.93421145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09719347 meters Centerline goodness [0,1] 0.7888203966956011 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.28, Z:-1.94 [[ 9.99189994e-01 3.49082269e-02 -2.00192701e-02 6.24293135e+00] [-3.49374644e-02 9.99388881e-01 -1.11247580e-03 -2.76309673e-01] [ 1.99682014e-02 1.81099722e-03 9.99798975e-01 -1.93612854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12719347 meters Centerline goodness [0,1] 0.8172624053826745 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-1.94 [[ 9.99227272e-01 3.35760779e-02 -2.04329619e-02 6.24507088e+00] [-3.36496471e-02 9.99428350e-01 -3.26731777e-03 -2.71372104e-01] [ 2.03115777e-02 3.95235498e-03 9.99785886e-01 -1.93762973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15719347 meters Centerline goodness [0,1] 0.7840186876552043 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.26, Z:-1.94 [[ 0.99929897 0.03085093 -0.02120843 6.24882009] [-0.03100221 0.9994959 -0.00684139 -0.26425761] [ 0.02098667 0.0074941 0.99975167 -1.94044604] [ 0. 0. 0. 1. ]] SLAMing on 153.18719347 meters Centerline goodness [0,1] 0.761371293800539 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.26, Z:-1.94 [[ 0.99932579 0.02974018 -0.02152889 6.25029958] [-0.02992611 0.9995171 -0.00836627 -0.26069975] [ 0.02126968 0.0090049 0.99973322 -1.94133441] [ 0. 0. 0. 1. ]] SLAMing on 153.21719347 meters Centerline goodness [0,1] 0.7344993054678621 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.26, Z:-1.94 [[ 0.99933629 0.02907317 -0.02194812 6.25171882] [-0.02928746 0.99952583 -0.00950577 -0.25714539] [ 0.02166135 0.01014226 0.99971392 -1.94196569] [ 0. 0. 0. 1. ]] SLAMing on 153.24719346999998 meters Centerline goodness [0,1] 0.7481167509494933 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.25, Z:-1.94 [[ 0.9993437 0.02852272 -0.02232976 6.25294371] [-0.02876528 0.9995298 -0.01061767 -0.25352946] [ 0.02201642 0.01125302 0.99969428 -1.94234583] [ 0. 0. 0. 1. ]] SLAMing on 153.27719347 meters Centerline goodness [0,1] 0.7165483342435828 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.25, Z:-1.94 [[ 0.99931987 0.02890379 -0.0228991 6.25554156] [-0.02915232 0.99951883 -0.01059497 -0.25078365] [ 0.02258185 0.01125533 0.99968164 -1.94392644] [ 0. 0. 0. 1. ]] SLAMing on 153.30719347 meters Centerline goodness [0,1] 0.7296139142124942 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.24, Z:-1.94 [[ 0.99928006 0.02967014 -0.0236441 6.25808381] [-0.02992625 0.99949641 -0.01055252 -0.24422689] [ 0.0233191 0.0112525 0.99966474 -1.94484969] [ 0. 0. 0. 1. ]] SLAMing on 153.33719347 meters Centerline goodness [0,1] 0.7296139142124942 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.24, Z:-1.94 [[ 0.99928006 0.02967014 -0.0236441 6.25808381] [-0.02992625 0.99949641 -0.01055252 -0.24422689] [ 0.0233191 0.0112525 0.99966474 -1.94484969] [ 0. 0. 0. 1. ]] SLAMing on 153.36719347 meters Centerline goodness [0,1] 0.7217170338324548 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.24, Z:-1.94 [[ 0.99928722 0.02923709 -0.0238796 6.25880209] [-0.02952188 0.9994961 -0.01166189 -0.24018051] [ 0.0235266 0.01235855 0.99964682 -1.94485524] [ 0. 0. 0. 1. ]] SLAMing on 153.39719347 meters Centerline goodness [0,1] 0.6976128435740103 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.23, Z:-1.94 [[ 0.99923362 0.03100566 -0.02389196 6.25865746] [-0.03127651 0.99944972 -0.01104736 -0.23165571] [ 0.02353628 0.01178615 0.99965351 -1.9438537 ] [ 0. 0. 0. 1. ]] SLAMing on 153.42719347 meters Centerline goodness [0,1] 0.7517139852786541 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.23, Z:-1.94 [[ 0.99923603 0.03065046 -0.02424663 6.25959309] [-0.03095318 0.99944625 -0.01221 -0.22737008] [ 0.02385897 0.01295118 0.99963144 -1.94383571] [ 0. 0. 0. 1. ]] SLAMing on 153.45719347 meters Centerline goodness [0,1] 0.7482665882254065 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.22, Z:-1.95 [[ 0.99919408 0.03162366 -0.02472099 6.2619516 ] [-0.03191953 0.99942235 -0.0116669 -0.22422583] [ 0.02433776 0.01244658 0.99962631 -1.94525012] [ 0. 0. 0. 1. ]] SLAMing on 153.48719347 meters Centerline goodness [0,1] 0.744221168771238 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.22, Z:-1.95 [[ 0.99915438 0.03250744 -0.02517526 6.26428416] [-0.03279984 0.99939817 -0.01129012 -0.220861 ] [ 0.0247931 0.01210632 0.9996193 -1.94664073] [ 0. 0. 0. 1. ]] SLAMing on 153.51719347 meters Centerline goodness [0,1] 0.743988773458445 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.21, Z:-1.95 [[ 0.99907837 0.03433898 -0.02575337 6.26709245] [-0.03461822 0.9993457 -0.01047617 -0.21486113] [ 0.02537678 0.01135805 0.99961343 -1.94823983] [ 0. 0. 0. 1. ]] SLAMing on 153.54719347 meters Centerline goodness [0,1] 0.7526861490865002 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.21, Z:-1.95 [[ 0.99900593 0.03596044 -0.02634379 6.26994707] [-0.03621411 0.99930156 -0.00921619 -0.21175006] [ 0.02599397 0.01016104 0.99961046 -1.94996627] [ 0. 0. 0. 1. ]] SLAMing on 153.57719347 meters Centerline goodness [0,1] 0.7571446504037826 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.21, Z:-1.95 [[ 9.98875600e-01 3.93873937e-02 -2.63850073e-02 6.27054882e+00] [-3.95652574e-02 9.99197423e-01 -6.25309404e-03 -2.08879416e-01] [ 2.61175382e-02 7.28999267e-03 9.99632297e-01 -1.95009188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60719347 meters Centerline goodness [0,1] 0.7559224395232828 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.21, Z:-1.95 [[ 9.98732646e-01 4.27821443e-02 -2.65102028e-02 6.27110279e+00] [-4.28846093e-02 9.99074554e-01 -3.30844554e-03 -2.05872241e-01] [ 2.63441267e-02 4.44113226e-03 9.99643068e-01 -1.94992888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63719347 meters Centerline goodness [0,1] 0.7882244013299103 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.20, Z:-1.95 [[ 9.98557912e-01 4.66329987e-02 -2.65981310e-02 6.27216484e+00] [-4.66690484e-02 9.98910135e-01 -7.35859224e-04 -2.00745801e-01] [ 2.65348273e-02 1.97610751e-03 9.99645936e-01 -1.95027133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66719347 meters Centerline goodness [0,1] 0.8030978100962549 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.20, Z:-1.95 [[ 9.98535113e-01 4.67810975e-02 -2.71874277e-02 6.27410678e+00] [-4.68304755e-02 9.98902152e-01 -1.18198743e-03 -1.98601403e-01] [ 2.71022854e-02 2.45345612e-03 9.99629655e-01 -1.95110130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69719347 meters Centerline goodness [0,1] 0.8372818480735182 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.20, Z:-1.95 [[ 9.98524465e-01 4.67301232e-02 -2.76620221e-02 6.27591207e+00] [-4.68003735e-02 9.98902460e-01 -1.89729292e-03 -1.95876252e-01] [ 2.75430012e-02 3.18908637e-03 9.99615532e-01 -1.95203974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72719347 meters Centerline goodness [0,1] 0.8298846250313519 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.95 [[ 9.98378280e-01 4.94395697e-02 -2.82230287e-02 6.27957252e+00] [-4.94453737e-02 9.98776708e-01 4.92631675e-04 -1.94402444e-01] [ 2.82128592e-02 9.03665438e-04 9.99601530e-01 -1.95463584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75719347 meters Centerline goodness [0,1] 0.8706791292998189 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.95 [[ 9.98340113e-01 5.00317543e-02 -2.85279088e-02 6.28076007e+00] [-5.00553786e-02 9.98746437e-01 -1.14131049e-04 -1.90498921e-01] [ 2.84864371e-02 1.54191688e-03 9.99592990e-01 -1.95481980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78719347 meters Centerline goodness [0,1] 0.8924830690278888 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.96 [[ 9.97867732e-01 5.87450196e-02 -2.84431282e-02 6.28216326e+00] [-5.85677826e-02 9.98258713e-01 7.02550153e-03 -1.85866534e-01] [ 2.88063138e-02 -5.34467033e-03 9.99570723e-01 -1.95524215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81719347 meters Centerline goodness [0,1] 0.9061429502133115 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.18, Z:-1.95 [[ 0.99761804 0.06283156 -0.0284683 6.28269697] [-0.06255631 0.99798663 0.01045927 -0.18352559] [ 0.02906815 -0.00865349 0.99953997 -1.9549964 ] [ 0. 0. 0. 1. ]] SLAMing on 153.84719347 meters Centerline goodness [0,1] 0.9095082379574896 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.18, Z:-1.96 [[ 0.99751968 0.06412681 -0.02902136 6.28487355] [-0.06383657 0.9979017 0.01082044 -0.18056 ] [ 0.02965434 -0.00894098 0.99952022 -1.95569372] [ 0. 0. 0. 1. ]] SLAMing on 153.87719347 meters Centerline goodness [0,1] 0.9103119219774676 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.18, Z:-1.96 [[ 0.99748719 0.06440615 -0.02951533 6.28631927] [-0.06412206 0.9978871 0.01047366 -0.17870956] [ 0.03012753 -0.00855476 0.99950945 -1.95608294] [ 0. 0. 0. 1. ]] SLAMing on 153.90719347 meters Centerline goodness [0,1] 0.9101905620427244 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.18, Z:-1.96 [[ 0.99748151 0.06437359 -0.02977707 6.28800651] [-0.06409418 0.99789126 0.01024561 -0.17788011] [ 0.03037382 -0.00831127 0.99950405 -1.95754092] [ 0. 0. 0. 1. ]] SLAMing on 153.93719347 meters Centerline goodness [0,1] 0.9112785101485666 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.96 [[ 0.9979499 0.05950558 -0.02356019 6.30032648] [-0.05917542 0.99814269 0.01447172 -0.1797835 ] [ 0.02437758 -0.01304786 0.99961767 -1.96180634] [ 0. 0. 0. 1. ]] SLAMing on 153.96719347 meters Centerline goodness [0,1] 0.910237606336169 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.96 [[ 0.99819136 0.05514382 -0.02394084 6.30032096] [-0.05491857 0.99844109 0.00996654 -0.17885608] [ 0.02445311 -0.00863372 0.9996637 -1.96122745] [ 0. 0. 0. 1. ]] SLAMing on 153.99719346999998 meters Centerline goodness [0,1] 0.9109066521356415 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.96 [[ 9.98382954e-01 5.13244001e-02 -2.44393659e-02 6.30095110e+00] [-5.11908086e-02 9.98670497e-01 6.06126467e-03 -1.78666742e-01] [ 2.47179645e-02 -4.80039242e-03 9.99682939e-01 -1.96109159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02719347 meters Centerline goodness [0,1] 0.906001885409029 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.96 [[ 9.98569955e-01 4.72467662e-02 -2.50157575e-02 6.30164518e+00] [-4.72106080e-02 9.98882886e-01 2.03437548e-03 -1.77984235e-01] [ 2.50839297e-02 -8.50457107e-04 9.99684987e-01 -1.96079881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05719347 meters Centerline goodness [0,1] 0.8991086069881848 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.96 [[ 9.98724828e-01 4.35303284e-02 -2.55700596e-02 6.30261262e+00] [-4.35954465e-02 9.99047276e-01 -1.99447414e-03 -1.76249081e-01] [ 2.54588782e-02 3.10666901e-03 9.99671043e-01 -1.96081236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08719347 meters Centerline goodness [0,1] 0.899008153315962 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.18, Z:-1.96 [[ 9.98841418e-01 4.02462176e-02 -2.63830029e-02 6.30512900e+00] [-4.03927609e-02 9.99171143e-01 -5.04504098e-03 -1.76751021e-01] [ 2.61580913e-02 6.10487821e-03 9.99639177e-01 -1.96218718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11719347 meters Centerline goodness [0,1] 0.8835321196903118 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.18, Z:-1.97 [[ 9.99107814e-01 3.66564935e-02 -2.09732714e-02 6.31545088e+00] [-3.66177999e-02 9.99326864e-01 2.22610594e-03 -1.79858643e-01] [ 2.10407547e-02 -1.45612479e-03 9.99777558e-01 -1.96545390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14719347 meters Centerline goodness [0,1] 0.8846645836391469 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.18, Z:-1.97 [[ 9.99202611e-01 3.35761680e-02 -2.16051585e-02 6.31711303e+00] [-3.36050591e-02 9.99434714e-01 -9.75459110e-04 -1.80060217e-01] [ 2.15601932e-02 1.70072392e-03 9.99766105e-01 -1.96609370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17719347 meters Centerline goodness [0,1] 0.8386097800841162 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.18, Z:-1.97 [[ 9.99198306e-01 3.35379481e-02 -2.18621019e-02 6.31810559e+00] [-3.35588102e-02 9.99436572e-01 -5.87977384e-04 -1.81505976e-01] [ 2.18300646e-02 1.32117213e-03 9.99760823e-01 -1.96681161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20719347 meters Centerline goodness [0,1] 0.87128754640567 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.18, Z:-1.97 [[ 9.99203431e-01 3.32438179e-02 -2.20760415e-02 6.31853215e+00] [-3.32700738e-02 9.99446059e-01 -8.23022930e-04 -1.81193392e-01] [ 2.20364522e-02 1.55683887e-03 9.99755956e-01 -1.96679668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23719347 meters Centerline goodness [0,1] 0.835875623349956 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.18, Z:-1.97 [[ 0.99935256 0.03167266 -0.01706778 6.33072794] [-0.03154475 0.99947258 0.00771246 -0.18316714] [ 0.01730305 -0.00716907 0.99982459 -1.97087402] [ 0. 0. 0. 1. ]] SLAMing on 154.26719347 meters Centerline goodness [0,1] 0.8245257310554449 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.18, Z:-1.97 [[ 9.99441229e-01 2.85300687e-02 -1.74145250e-02 6.33159981e+00] [-2.84697944e-02 9.99587808e-01 3.69935940e-03 -1.81398111e-01] [ 1.75128898e-02 -3.20150436e-03 9.99841512e-01 -1.97097445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29719347 meters Centerline goodness [0,1] 0.884595079717031 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.18, Z:-1.97 [[ 9.99520775e-01 2.54021818e-02 -1.76903549e-02 6.33256915e+00] [-2.54078960e-02 9.99677162e-01 -9.83005192e-05 -1.80500893e-01] [ 1.76821467e-02 5.47728109e-04 9.99843509e-01 -1.97143427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32719347 meters Centerline goodness [0,1] 0.8868239671867733 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.18, Z:-1.97 [[ 9.99510135e-01 2.56218914e-02 -1.79724321e-02 6.33391525e+00] [-2.56244080e-02 9.99671637e-01 9.02853100e-05 -1.80933290e-01] [ 1.79688439e-02 3.70291850e-04 9.99838479e-01 -1.97249287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35719347 meters Centerline goodness [0,1] 0.8825345797555095 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.18, Z:-1.97 [[ 9.99499671e-01 2.57171666e-02 -1.84129298e-02 6.33519940e+00] [-2.57179572e-02 9.99669220e-01 1.93890941e-04 -1.80664108e-01] [ 1.84118255e-02 2.79749010e-04 9.99830449e-01 -1.97302130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38719347 meters Centerline goodness [0,1] 0.8747655278521298 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.18, Z:-1.97 [[ 9.99475903e-01 2.62904832e-02 -1.88872935e-02 6.33720117e+00] [-2.62776940e-02 9.99654254e-01 9.25036861e-04 -1.81373357e-01] [ 1.89050829e-02 -4.28237533e-04 9.99821191e-01 -1.97434588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41719347 meters Centerline goodness [0,1] 0.8665179792538977 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.18, Z:-1.97 [[ 9.99457619e-01 2.67288504e-02 -1.92363465e-02 6.33831208e+00] [-2.67020551e-02 9.99642077e-01 1.64850369e-03 -1.82905024e-01] [ 1.92735239e-02 -1.13395959e-03 9.99813605e-01 -1.97489995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44719347 meters Centerline goodness [0,1] 0.8526326919010362 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.18, Z:-1.97 [[ 9.99463199e-01 2.64706072e-02 -1.93033939e-02 6.33826268e+00] [-2.64470311e-02 9.99649127e-01 1.47565218e-03 -1.83077787e-01] [ 1.93356822e-02 -9.64342591e-04 9.99812583e-01 -1.97466775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47719347 meters Centerline goodness [0,1] 0.8537602981976831 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.19, Z:-1.98 [[ 0.99963168 0.02373913 -0.01315105 6.34818862] [-0.02361887 0.99967847 0.00922496 -0.18500543] [ 0.01336581 -0.00891095 0.99987097 -1.97794242] [ 0. 0. 0. 1. ]] SLAMing on 154.50719347 meters Centerline goodness [0,1] 0.8462951234958835 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.19, Z:-1.98 [[ 0.99974578 0.02089627 -0.00846942 6.36373299] [-0.02081084 0.99973289 0.01005271 -0.18519895] [ 0.00867723 -0.0098739 0.9999136 -1.97698474] [ 0. 0. 0. 1. ]] SLAMing on 154.53719347 meters Centerline goodness [0,1] 0.849618175279758 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.18, Z:-1.98 [[ 9.99815256e-01 1.72183270e-02 -8.54296333e-03 6.36331463e+00] [-1.71717436e-02 9.99837446e-01 5.49655215e-03 -1.82969878e-01] [ 8.63621607e-03 -5.34883913e-03 9.99948402e-01 -1.97586355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56719347 meters Centerline goodness [0,1] 0.9052525124834081 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99893285e-01 1.44791839e-02 -1.94229936e-03 6.37419323e+00] [-1.44671160e-02 9.99876802e-01 6.08969307e-03 -1.82645188e-01] [ 2.03023386e-03 -6.06094374e-03 9.99979571e-01 -1.97237483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59719347 meters Centerline goodness [0,1] 0.8174494667984772 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99943927e-01 1.03895164e-02 -2.04976532e-03 6.37380368e+00] [-1.03870106e-02 9.99945298e-01 1.22937969e-03 -1.79834714e-01] [ 2.06242585e-03 -1.20801982e-03 9.99997144e-01 -1.97116528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62719347 meters Centerline goodness [0,1] 0.8814792936857873 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99958309e-01 8.93507912e-03 -1.88291299e-03 6.37209543e+00] [-8.93540550e-03 9.99960065e-01 -1.64996308e-04 -1.78963641e-01] [ 1.88136354e-03 1.81814020e-04 9.99998214e-01 -1.96933626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65719347 meters Centerline goodness [0,1] 0.8269876464998416 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99985251e-01 4.98365979e-03 -2.15881462e-03 6.37248859e+00] [-4.99322654e-03 9.99977637e-01 -4.44899348e-03 -1.77620561e-01] [ 2.13659407e-03 4.45970731e-03 9.99987773e-01 -1.96902299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68719347 meters Centerline goodness [0,1] 0.8474833808167141 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99987469e-01 4.48790182e-03 -2.21828408e-03 6.37292850e+00] [-4.49757328e-03 9.99980318e-01 -4.37429515e-03 -1.78764162e-01] [ 2.19860901e-03 4.38421723e-03 9.99987972e-01 -1.96955407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71719347 meters Centerline goodness [0,1] 0.785042789089836 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99997510e-01 -4.83382593e-04 -2.17856885e-03 6.37269751e+00] [ 4.63773399e-04 9.99959459e-01 -8.99248667e-03 -1.77943047e-01] [ 2.18282734e-03 8.99145392e-03 9.99957194e-01 -1.96932422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74719346999998 meters Centerline goodness [0,1] 0.7607361963190185 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99996684e-01 -1.11605701e-03 -2.32065738e-03 6.37307204e+00] [ 1.09481116e-03 9.99957664e-01 -9.13630532e-03 -1.78273770e-01] [ 2.33075577e-03 9.13373435e-03 9.99955570e-01 -1.96946499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77719347 meters Centerline goodness [0,1] 0.7397873413465579 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-1.97 [[ 9.99995781e-01 -1.53669243e-03 -2.46522076e-03 6.37363168e+00] [ 1.51395163e-03 9.99956532e-01 -9.20014674e-03 -1.78562658e-01] [ 2.47925140e-03 9.19637570e-03 9.99954639e-01 -1.96984833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80719347 meters Centerline goodness [0,1] 0.751759302178585 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.18, Z:-1.97 [[ 9.99993701e-01 -2.26224904e-03 -2.73496863e-03 6.37510511e+00] [ 2.23466526e-03 9.99947031e-01 -1.00469250e-02 -1.76152947e-01] [ 2.75755241e-03 1.00407500e-02 9.99945788e-01 -1.97110289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83719347 meters Centerline goodness [0,1] 0.7191913248150639 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.18, Z:-1.97 [[ 9.99995259e-01 1.01845036e-03 -2.90600271e-03 6.37620948e+00] [-1.03691983e-03 9.99979230e-01 -6.36121582e-03 -1.75667427e-01] [ 2.89946377e-03 6.36419896e-03 9.99975545e-01 -1.97230118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86719347 meters Centerline goodness [0,1] 0.7223177946544708 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.17, Z:-1.97 [[ 9.99992613e-01 1.72755176e-03 -3.43347138e-03 6.37895823e+00] [-1.74808950e-03 9.99980546e-01 -5.98765170e-03 -1.73123520e-01] [ 3.42306060e-03 5.99360949e-03 9.99976179e-01 -1.97439491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89719347 meters Centerline goodness [0,1] 0.7074702349594353 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.17, Z:-1.98 [[ 9.99982614e-01 4.70765533e-03 -3.55099637e-03 6.37986570e+00] [-4.71801434e-03 9.99984623e-01 -2.91449889e-03 -1.71744341e-01] [ 3.53722131e-03 2.93120187e-03 9.99989448e-01 -1.97542652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92719347 meters Centerline goodness [0,1] 0.7387744767049291 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.16, Z:-1.98 [[ 9.99973551e-01 6.16211217e-03 -3.86329201e-03 6.38240496e+00] [-6.17200889e-03 9.99977689e-01 -2.55506569e-03 -1.64400150e-01] [ 3.84746121e-03 2.57884239e-03 9.99989273e-01 -1.97772985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95719347 meters Centerline goodness [0,1] 0.7398367123056475 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.16, Z:-1.98 [[ 9.99976145e-01 5.66245602e-03 -3.95552552e-03 6.38285018e+00] [-5.67848526e-03 9.99975664e-01 -4.05295870e-03 -1.59629070e-01] [ 3.93247955e-03 4.07532341e-03 9.99983964e-01 -1.97778055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98719347 meters Centerline goodness [0,1] 0.7304487984593486 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.16, Z:-1.98 [[ 9.99971241e-01 6.09941673e-03 -4.50710419e-03 6.38527176e+00] [-6.11835448e-03 9.99972463e-01 -4.19998254e-03 -1.56041560e-01] [ 4.48136263e-03 4.22743782e-03 9.99981023e-01 -1.97931717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01719347 meters Centerline goodness [0,1] 0.7486508137279704 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.15, Z:-1.98 [[ 9.99951351e-01 8.84197143e-03 -4.37197806e-03 6.38488366e+00] [-8.84992419e-03 9.99959213e-01 -1.80304283e-03 -1.53143116e-01] [ 4.35585729e-03 1.84164679e-03 9.99988817e-01 -1.97909265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04719347 meters Centerline goodness [0,1] 0.7411722568683634 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:-1.98 [[ 9.99935954e-01 1.04605132e-02 -4.32042872e-03 6.38533741e+00] [-1.04684392e-02 9.99943555e-01 -1.81601250e-03 -1.42926793e-01] [ 4.30118843e-03 1.86112434e-03 9.99989018e-01 -1.97923281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07719347 meters Centerline goodness [0,1] 0.7389291126452264 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:-1.98 [[ 9.99940972e-01 9.79291432e-03 -4.70657120e-03 6.38630241e+00] [-9.80925166e-03 9.99945900e-01 -3.46071841e-03 -1.37999820e-01] [ 4.67242606e-03 3.50668207e-03 9.99982936e-01 -1.97928587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10719347 meters Centerline goodness [0,1] 0.7409107176691017 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:-1.98 [[ 9.99946972e-01 9.09269987e-03 -4.83477941e-03 6.38674228e+00] [-9.11698289e-03 9.99945816e-01 -5.02447794e-03 -1.33655241e-01] [ 4.78883137e-03 5.06829011e-03 9.99975689e-01 -1.97931192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13719347 meters Centerline goodness [0,1] 0.7437297819602571 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:-1.98 [[ 9.99927975e-01 1.10106474e-02 -4.77600573e-03 6.38638189e+00] [-1.10311610e-02 9.99929951e-01 -4.29027958e-03 -1.26001595e-01] [ 4.72843242e-03 4.34265547e-03 9.99979391e-01 -1.97841813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16719347 meters Centerline goodness [0,1] 0.7328242669022677 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:-1.98 [[ 9.99932812e-01 1.04328906e-02 -5.05239721e-03 6.38651501e+00] [-1.04624755e-02 9.99928067e-01 -5.86501349e-03 -1.19894259e-01] [ 4.99084473e-03 5.91748001e-03 9.99970037e-01 -1.97753017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19719347 meters Centerline goodness [0,1] 0.7309827172953198 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.11, Z:-1.98 [[ 9.99922987e-01 1.10276166e-02 -5.69321846e-03 6.38844824e+00] [-1.10612536e-02 9.99921351e-01 -5.91097794e-03 -1.14929990e-01] [ 5.62758669e-03 5.97349685e-03 9.99966323e-01 -1.97819252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22719347 meters Centerline goodness [0,1] 0.7309827172953198 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.11, Z:-1.98 [[ 9.99922987e-01 1.10276166e-02 -5.69321846e-03 6.38844824e+00] [-1.10612536e-02 9.99921351e-01 -5.91097794e-03 -1.14929990e-01] [ 5.62758669e-03 5.97349685e-03 9.99966323e-01 -1.97819252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25719347 meters Centerline goodness [0,1] 0.7582583844666723 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.11, Z:-1.98 [[ 9.99914622e-01 1.14602420e-02 -6.27783375e-03 6.39056173e+00] [-1.14991139e-02 9.99914716e-01 -6.19123930e-03 -1.11060460e-01] [ 6.20634525e-03 6.26290023e-03 9.99961128e-01 -1.97919432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28719347 meters Centerline goodness [0,1] 0.7648883636517114 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.11, Z:-1.98 [[ 9.99876276e-01 1.44725256e-02 -6.16261507e-03 6.39015570e+00] [-1.44982924e-02 9.99886252e-01 -4.15720501e-03 -1.06298337e-01] [ 6.10174883e-03 4.24603806e-03 9.99972370e-01 -1.97858528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31719347 meters Centerline goodness [0,1] 0.779713568581131 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:-1.98 [[ 9.99865025e-01 1.50042565e-02 -6.69365723e-03 6.39158196e+00] [-1.50334418e-02 9.99877610e-01 -4.33133395e-03 -1.02749704e-01] [ 6.62784955e-03 4.43137803e-03 9.99968217e-01 -1.97877268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34719347 meters Centerline goodness [0,1] 0.7717515077390241 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:-1.98 [[ 9.99845854e-01 1.59046662e-02 -7.43705617e-03 6.39334708e+00] [-1.59352571e-02 9.99864733e-01 -4.07229158e-03 -9.86762728e-02] [ 7.37128175e-03 4.19017526e-03 9.99964053e-01 -1.97893192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37719347 meters Centerline goodness [0,1] 0.7882620315229056 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:-1.98 [[ 9.99776223e-01 1.96832882e-02 -7.75066434e-03 6.39439601e+00] [-1.96899188e-02 9.99805830e-01 -7.80109003e-04 -9.61504521e-02] [ 7.73380429e-03 9.32544384e-04 9.99969659e-01 -1.97923106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40719347 meters Centerline goodness [0,1] 0.8245044969142954 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.09, Z:-1.98 [[ 9.99686379e-01 2.37059463e-02 -8.07292394e-03 6.39563866e+00] [-2.36857064e-02 9.99716090e-01 2.59359720e-03 -9.35598797e-02] [ 8.13211563e-03 -2.40157088e-03 9.99964050e-01 -1.97966785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43719347 meters Centerline goodness [0,1] 0.8904121110176619 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.09, Z:-1.98 [[ 0.99941744 0.03304359 -0.00853871 6.39838895] [-0.0329586 0.99940758 0.00991021 -0.08720663] [ 0.00886112 -0.00962301 0.99991444 -1.98078477] [ 0. 0. 0. 1. ]] SLAMing on 155.46719347 meters Centerline goodness [0,1] 0.9175353254574936 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.08, Z:-1.98 [[ 0.99926845 0.03723039 -0.00874487 6.39934265] [-0.03711233 0.99922264 0.01329602 -0.08471256] [ 0.00923309 -0.01296175 0.99987336 -1.98097645] [ 0. 0. 0. 1. ]] SLAMing on 155.49719346999998 meters Centerline goodness [0,1] 0.9198119148578866 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.08, Z:-1.98 [[ 0.99923366 0.03808588 -0.00903095 6.40040912] [-0.03796887 0.99919704 0.01279196 -0.08164725] [ 0.00951089 -0.01243926 0.9998774 -1.98092112] [ 0. 0. 0. 1. ]] SLAMing on 155.52719347 meters Centerline goodness [0,1] 0.9232385193899416 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.08, Z:-1.98 [[ 0.99920052 0.03888409 -0.00929273 6.40141956] [-0.0387669 0.99917042 0.01247413 -0.07930221] [ 0.00977007 -0.01210391 0.99987901 -1.98101866] [ 0. 0. 0. 1. ]] SLAMing on 155.55719347 meters Centerline goodness [0,1] 0.9217294387315206 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.08, Z:-1.98 [[ 0.99900882 0.04356862 -0.00911839 6.40111377] [-0.04342179 0.99893307 0.01572449 -0.075729 ] [ 0.00979376 -0.01531297 0.99983478 -1.97978027] [ 0. 0. 0. 1. ]] SLAMing on 155.58719347 meters Centerline goodness [0,1] 0.9214557783265664 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-1.98 [[ 0.99897027 0.04437546 -0.00944576 6.40185377] [-0.04422481 0.99889978 0.01560084 -0.07307039] [ 0.01012767 -0.01516704 0.99983368 -1.9792092 ] [ 0. 0. 0. 1. ]] SLAMing on 155.61719347 meters Centerline goodness [0,1] 0.9222849968612681 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-1.98 [[ 0.99895572 0.04466818 -0.00960288 6.40177302] [-0.0445184 0.99889167 0.01528236 -0.07156727] [ 0.01027487 -0.01483889 0.9998371 -1.97831779] [ 0. 0. 0. 1. ]] SLAMing on 155.64719347 meters Centerline goodness [0,1] 0.9182436272549308 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.07, Z:-1.98 [[ 0.99906592 0.04206766 -0.00987904 6.40203467] [-0.04194364 0.9990425 0.0124422 -0.07436289] [ 0.01039299 -0.01201622 0.99987379 -1.97791794] [ 0. 0. 0. 1. ]] SLAMing on 155.67719347 meters Centerline goodness [0,1] 0.9178790682028425 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.08, Z:-1.98 [[ 0.99919812 0.03869933 -0.01027023 6.40262451] [-0.03860565 0.99921246 0.00916831 -0.07673928] [ 0.01061695 -0.00876447 0.99990523 -1.97793972] [ 0. 0. 0. 1. ]] SLAMing on 155.70719347 meters Centerline goodness [0,1] 0.9207927060909206 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.08, Z:-1.98 [[ 9.99328625e-01 3.50706546e-02 -1.05994083e-02 6.40276005e+00] [-3.50106659e-02 9.99370148e-01 5.79320783e-03 -7.90011991e-02] [ 1.07959038e-02 -5.41822608e-03 9.99927043e-01 -1.97755277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73719347 meters Centerline goodness [0,1] 0.9160231252901211 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.08, Z:-1.98 [[ 9.99433270e-01 3.18057013e-02 -1.10243572e-02 6.40297786e+00] [-3.17657535e-02 9.99488193e-01 3.77999372e-03 -8.43629568e-02] [ 1.11389402e-02 -3.42765447e-03 9.99932085e-01 -1.97718830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76719347 meters Centerline goodness [0,1] 0.9156722857082729 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.09, Z:-1.98 [[ 9.99587310e-01 2.83080960e-02 -4.88491106e-03 6.41423092e+00] [-2.82558738e-02 9.99546125e-01 1.04474408e-02 -8.92955844e-02] [ 5.17844108e-03 -1.03051018e-02 9.99933492e-01 -1.98074751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79719347 meters Centerline goodness [0,1] 0.914445028932141 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.09, Z:-1.98 [[ 9.99673976e-01 2.49858701e-02 -5.25809834e-03 6.41444713e+00] [-2.49472346e-02 9.99662193e-01 7.28940342e-03 -9.17157504e-02] [ 5.43845421e-03 -7.15585189e-03 9.99959608e-01 -1.98013232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82719347 meters Centerline goodness [0,1] 0.9169789987227538 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:-1.98 [[ 9.99765595e-01 2.05440888e-02 -6.83338579e-03 6.41834663e+00] [-2.05229465e-02 9.99784420e-01 3.14984579e-03 -9.98136645e-02] [ 6.89662337e-03 -3.00886624e-03 9.99971691e-01 -1.98109692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85719347 meters Centerline goodness [0,1] 0.9131854473445827 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:-1.98 [[ 9.99824474e-01 1.72997517e-02 -7.19306288e-03 6.41915167e+00] [-1.72986587e-02 9.99850344e-01 2.14139123e-04 -1.02662171e-01] [ 7.19569095e-03 -8.96711964e-05 9.99974107e-01 -1.98138297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88719347 meters Centerline goodness [0,1] 0.9131395618041378 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:-1.98 [[ 9.99854638e-01 1.50456917e-02 -8.02060904e-03 6.42184224e+00] [-1.50604788e-02 9.99884989e-01 -1.78642826e-03 -1.05907781e-01] [ 7.99280853e-03 1.90696279e-03 9.99966239e-01 -1.98287610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91719347 meters Centerline goodness [0,1] 0.9133926313127055 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:-1.98 [[ 9.99888436e-01 1.24662944e-02 -8.22848903e-03 6.42276617e+00] [-1.25029311e-02 9.99912084e-01 -4.41610012e-03 -1.08102545e-01] [ 8.17271320e-03 4.51848767e-03 9.99956394e-01 -1.98341611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94719347 meters Centerline goodness [0,1] 0.9141683345623091 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:-1.98 [[ 9.99865794e-01 1.37952914e-02 -8.83654873e-03 6.42476424e+00] [-1.38173668e-02 9.99901554e-01 -2.44202286e-03 -1.12464211e-01] [ 8.80199038e-03 2.56379296e-03 9.99957975e-01 -1.98460489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97719347 meters Centerline goodness [0,1] 0.910067681895093 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.12, Z:-1.99 [[ 9.99837089e-01 1.55582233e-02 -9.15085232e-03 6.42597499e+00] [-1.55560988e-02 9.99878951e-01 3.03295105e-04 -1.19293577e-01] [ 9.15446335e-03 -1.60894132e-04 9.99958084e-01 -1.98544674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00719347 meters Centerline goodness [0,1] 0.9087847083342104 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.12, Z:-1.99 [[ 9.99893202e-01 1.39901069e-02 -4.22638554e-03 6.43871024e+00] [-1.39508744e-02 9.99860597e-01 9.17383758e-03 -1.24358371e-01] [ 4.35413934e-03 -9.11389606e-03 9.99948988e-01 -1.98991320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03719347 meters Centerline goodness [0,1] 0.9101895083768196 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.13, Z:-1.99 [[ 9.99928665e-01 1.10491680e-02 -4.53656918e-03 6.43927376e+00] [-1.10211322e-02 9.99920297e-01 6.15913359e-03 -1.26191906e-01] [ 4.60426090e-03 -6.10869610e-03 9.99970742e-01 -1.98973719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06719347 meters Centerline goodness [0,1] 0.909750538443845 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.13, Z:-1.99 [[ 9.99965409e-01 8.21119226e-03 -1.32575200e-03 6.45690473e+00] [-8.19845295e-03 9.99922730e-01 9.34445881e-03 -1.31158932e-01] [ 1.40237871e-03 -9.33326646e-03 9.99955461e-01 -1.99198504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09719347 meters Centerline goodness [0,1] 0.9106829752624797 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.14, Z:-1.99 [[ 9.99931294e-01 1.10540513e-02 3.90057807e-03 6.44696816e+00] [-1.10809567e-02 9.99914486e-01 6.94494782e-03 -1.42231857e-01] [-3.82347471e-03 -6.98769280e-03 9.99968276e-01 -1.99234083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12719347 meters Centerline goodness [0,1] 0.9131709993247805 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.14, Z:-1.99 [[ 9.99954974e-01 8.72063969e-03 3.74176719e-03 6.44723764e+00] [-8.73638764e-03 9.99952961e-01 4.21319251e-03 -1.44513290e-01] [-3.70484945e-03 -4.24569233e-03 9.99984124e-01 -1.99190943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15719347 meters Centerline goodness [0,1] 0.9135953703508142 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.15, Z:-1.99 [[ 9.99970485e-01 6.79289497e-03 3.58959251e-03 6.44758495e+00] [-6.79972244e-03 9.99975089e-01 1.89325006e-03 -1.46536491e-01] [-3.57664244e-03 -1.91760242e-03 9.99991765e-01 -1.99157588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18719347 meters Centerline goodness [0,1] 0.9159207228458898 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.16, Z:-1.99 [[ 9.99959670e-01 8.24047974e-03 3.57115725e-03 6.44694917e+00] [-8.25630743e-03 9.99956058e-01 4.44024686e-03 -1.57179580e-01] [-3.53441056e-03 -4.46955235e-03 9.99983765e-01 -1.99029554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21719347 meters Centerline goodness [0,1] 0.9146498700090888 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.16, Z:-1.99 [[ 9.99979298e-01 5.42497586e-03 3.46016049e-03 6.44670336e+00] [-5.43270641e-03 9.99982759e-01 2.22868798e-03 -1.61957882e-01] [-3.44801026e-03 -2.24743988e-03 9.99991530e-01 -1.98957951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24719346999998 meters Centerline goodness [0,1] 0.9145206985496216 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.17, Z:-1.99 [[ 9.99991297e-01 2.65779039e-03 3.21596926e-03 6.44695228e+00] [-2.65944540e-03 9.99996333e-01 5.10456609e-04 -1.68132429e-01] [-3.21460079e-03 -5.19004862e-04 9.99994698e-01 -1.98923937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27719347 meters Centerline goodness [0,1] 0.9133051742344245 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.18, Z:-1.99 [[ 9.99995733e-01 8.44198911e-05 2.92014931e-03 6.44746104e+00] [-8.26784954e-05 9.99999819e-01 -5.96453471e-04 -1.75955997e-01] [-2.92019913e-03 5.96209493e-04 9.99995558e-01 -1.98917131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30719347 meters Centerline goodness [0,1] 0.9097206090427217 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.19, Z:-1.99 [[ 9.99961365e-01 -8.16626552e-03 3.25279673e-03 6.44635445e+00] [ 8.18536827e-03 9.99949074e-01 -5.90334594e-03 -1.93232009e-01] [-3.20442278e-03 5.92974320e-03 9.99977285e-01 -1.98826702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33719347 meters Centerline goodness [0,1] 0.9070502021563343 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.20, Z:-1.99 [[ 9.99935895e-01 -1.08900807e-02 3.10032393e-03 6.44688113e+00] [ 1.09106984e-02 9.99917944e-01 -6.71279608e-03 -2.02495766e-01] [-3.02696664e-03 6.74619246e-03 9.99972663e-01 -1.98856462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36719347 meters Centerline goodness [0,1] 0.9045987641346841 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.21, Z:-1.99 [[ 9.99901961e-01 -1.36749484e-02 3.01070436e-03 6.44715213e+00] [ 1.36976414e-02 9.99876915e-01 -7.65045800e-03 -2.10853384e-01] [-2.90571417e-03 7.69094751e-03 9.99966203e-01 -1.98863259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39719347 meters Centerline goodness [0,1] 0.9038481680876469 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.22, Z:-1.99 [[ 9.99856434e-01 -1.67210146e-02 2.74227143e-03 6.44812025e+00] [ 1.67448865e-02 9.99819948e-01 -8.92636228e-03 -2.18636949e-01] [-2.59251984e-03 8.97099978e-03 9.99956399e-01 -1.98917964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42719347 meters Centerline goodness [0,1] 0.9024812585788196 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.23, Z:-1.99 [[ 9.99803368e-01 -1.97009602e-02 2.25788963e-03 6.45020997e+00] [ 1.97224987e-02 9.99755972e-01 -9.95089433e-03 -2.26628631e-01] [-2.06129647e-03 9.99346888e-03 9.99947939e-01 -1.99089223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45719347 meters Centerline goodness [0,1] 0.9031101982646603 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.99 [[ 9.99634006e-01 -2.70503722e-02 3.62869885e-04 6.45389856e+00] [ 2.70527072e-02 9.99576680e-01 -1.07056730e-02 -2.41932981e-01] [-7.31238364e-05 1.07115714e-02 9.99942627e-01 -1.99455586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48719347 meters Centerline goodness [0,1] 0.9006252885139956 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.25, Z:-1.99 [[ 9.99539830e-01 -3.03331319e-02 1.69588140e-04 6.45453567e+00] [ 3.03328064e-02 9.99457268e-01 -1.28487221e-02 -2.47178241e-01] [ 2.20245884e-04 1.28479536e-02 9.99917437e-01 -1.99463159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51719347 meters Centerline goodness [0,1] 0.9003265564099863 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.25, Z:-1.99 [[ 9.99432599e-01 -3.36820274e-02 2.22796663e-05 6.45484864e+00] [ 3.36784579e-02 9.99316604e-01 -1.52343923e-02 -2.51940598e-01] [ 4.90860780e-04 1.52264987e-02 9.99883950e-01 -1.99436939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54719347 meters Centerline goodness [0,1] 0.8851372672767435 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.26, Z:-1.99 [[ 9.99243177e-01 -3.88982265e-02 4.38500877e-05 6.45493134e+00] [ 3.88918317e-02 9.99057154e-01 -1.92932146e-02 -2.61031116e-01] [ 7.06663088e-04 1.92803185e-02 9.99813868e-01 -1.99382556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57719347 meters Centerline goodness [0,1] 0.8976818545163869 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.26, Z:-1.99 [[ 9.99271996e-01 -3.81501343e-02 -2.11697455e-04 6.45594807e+00] [ 3.81401997e-02 9.99111334e-01 -1.79406619e-02 -2.64234229e-01] [ 8.95947988e-04 1.79195269e-02 9.99839031e-01 -1.99454113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60719347 meters Centerline goodness [0,1] 0.8952238112338664 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.27, Z:-2.00 [[ 9.99429456e-01 -3.37685184e-02 -6.70398160e-04 6.45685776e+00] [ 3.37571584e-02 9.99347804e-01 -1.28226509e-02 -2.66850846e-01] [ 1.10296285e-03 1.27927043e-02 9.99917562e-01 -1.99507771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63719347 meters Centerline goodness [0,1] 0.8963809202622094 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.27, Z:-2.00 [[ 9.99569735e-01 -2.93075354e-02 -1.18845862e-03 6.45789977e+00] [ 2.92972240e-02 9.99539343e-01 -7.92303483e-03 -2.68544165e-01] [ 1.42011578e-03 7.88480729e-03 9.99967906e-01 -1.99549957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66719347 meters Centerline goodness [0,1] 0.8963000464076277 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.27, Z:-2.00 [[ 9.99694076e-01 -2.46822779e-02 -1.59337723e-03 6.45876569e+00] [ 2.46777841e-02 9.99691589e-01 -2.78091473e-03 -2.71122794e-01] [ 1.66152512e-03 2.74074297e-03 9.99994864e-01 -1.99595584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69719347 meters Centerline goodness [0,1] 0.8948655256723717 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.28, Z:-2.00 [[ 9.99819733e-01 -1.89050122e-02 -1.76126333e-03 6.45965778e+00] [ 1.89108740e-02 9.99815483e-01 3.37319276e-03 -2.76313266e-01] [ 1.69716810e-03 -3.40589171e-03 9.99992760e-01 -1.99685811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72719347 meters Centerline goodness [0,1] 0.8949415519901918 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.28, Z:-2.00 [[ 9.99838350e-01 -1.78798808e-02 -1.89305409e-03 6.46011745e+00] [ 1.78879704e-02 9.99830551e-01 4.34627440e-03 -2.77678283e-01] [ 1.81502244e-03 -4.37943472e-03 9.99988763e-01 -1.99707908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75719347 meters Centerline goodness [0,1] 0.8937832059776052 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.28, Z:-2.00 [[ 9.99853152e-01 -1.70246293e-02 -1.95846963e-03 6.46058105e+00] [ 1.70346842e-02 9.99841182e-01 5.23736788e-03 -2.79128417e-01] [ 1.86899435e-03 -5.26996069e-03 9.99984367e-01 -1.99753559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78719347 meters Centerline goodness [0,1] 0.8929424951885456 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.28, Z:-2.00 [[ 9.99864748e-01 -1.62856070e-02 -2.29470480e-03 6.46159764e+00] [ 1.62995889e-02 9.99847854e-01 6.21218904e-03 -2.80989969e-01] [ 2.19318640e-03 -6.24875157e-03 9.99978071e-01 -1.99803703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81719347 meters Centerline goodness [0,1] 0.8909801285552241 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.29, Z:-2.00 [[ 9.99885186e-01 -1.49062799e-02 -2.72363267e-03 6.46327760e+00] [ 1.49287262e-02 9.99853144e-01 8.41571718e-03 -2.85931722e-01] [ 2.59778565e-03 -8.45541130e-03 9.99960878e-01 -1.99917749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84719347 meters Centerline goodness [0,1] 0.8895656388964994 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.29, Z:-2.00 [[ 9.99891041e-01 -1.44884531e-02 -2.82697168e-03 6.46336620e+00] [ 1.45145412e-02 9.99850124e-01 9.43699739e-03 -2.88909671e-01] [ 2.68982049e-03 -9.47700134e-03 9.99951474e-01 -1.99898472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87719347 meters Centerline goodness [0,1] 0.8887408816999682 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.29, Z:-2.00 [[ 9.99876022e-01 -1.55639229e-02 -2.38848622e-03 6.46132191e+00] [ 1.55843299e-02 9.99840030e-01 8.77740156e-03 -2.92022611e-01] [ 2.25149334e-03 -8.81353632e-03 9.99958625e-01 -1.99727310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90719347 meters Centerline goodness [0,1] 0.8864451855291485 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.29, Z:-2.00 [[ 9.99821381e-01 -1.87270947e-02 -2.54971911e-03 6.46163669e+00] [ 1.87421219e-02 9.99806329e-01 6.00318680e-03 -2.94772505e-01] [ 2.43680306e-03 -6.04990167e-03 9.99978730e-01 -1.99699249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93719347 meters Centerline goodness [0,1] 0.8883376261453363 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.30, Z:-2.00 [[ 9.99761789e-01 -2.16972402e-02 -2.36518593e-03 6.46132751e+00] [ 2.17087371e-02 9.99752090e-01 4.94868421e-03 -3.03984192e-01] [ 2.25722679e-03 -4.99885058e-03 9.99984958e-01 -1.99663464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96719347 meters Centerline goodness [0,1] 0.8868904369854338 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.31, Z:-2.00 [[ 9.99762708e-01 -2.16331603e-02 -2.55616032e-03 6.46195487e+00] [ 2.16491284e-02 9.99745185e-01 6.39376042e-03 -3.09092320e-01] [ 2.41719173e-03 -6.44758187e-03 9.99976293e-01 -1.99698772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99719346999998 meters Centerline goodness [0,1] 0.8866024886497393 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.31, Z:-2.00 [[ 9.99689958e-01 -2.47333356e-02 -2.87210774e-03 6.46339682e+00] [ 2.47446055e-02 9.99685974e-01 3.95701543e-03 -3.12491825e-01] [ 2.77333563e-03 -4.02685777e-03 9.99988046e-01 -1.99773728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02719347 meters Centerline goodness [0,1] 0.890427466069088 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.32, Z:-2.00 [[ 9.99601999e-01 -2.80493809e-02 -3.01275697e-03 6.46394902e+00] [ 2.80535835e-02 9.99605493e-01 1.36185632e-03 -3.15945495e-01] [ 2.97336919e-03 -1.44583293e-03 9.99994534e-01 -1.99776927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05719347 meters Centerline goodness [0,1] 0.8904251277071812 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.32, Z:-2.00 [[ 9.99480922e-01 -3.21043258e-02 -2.68287659e-03 6.46307489e+00] [ 3.21023279e-02 9.99484280e-01 -7.84449096e-04 -3.23238148e-01] [ 2.70667718e-03 6.97915322e-04 9.99996093e-01 -1.99680825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08719347 meters Centerline goodness [0,1] 0.8887065210529639 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.33, Z:-2.00 [[ 9.99475623e-01 -3.22572761e-02 -2.81889743e-03 6.46325217e+00] [ 3.22579669e-02 9.99479556e-01 1.99914620e-04 -3.27191672e-01] [ 2.81098165e-03 -2.90741689e-04 9.99996007e-01 -1.99658336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11719347 meters Centerline goodness [0,1] 0.8878473314459474 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.33, Z:-2.00 [[ 9.99474617e-01 -3.22710184e-02 -3.01184082e-03 6.46364981e+00] [ 3.22737200e-02 9.99478704e-01 8.52733116e-04 -3.29314100e-01] [ 2.98275219e-03 -9.49488412e-04 9.99995101e-01 -1.99655611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14719347 meters Centerline goodness [0,1] 0.8878473314459474 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.33, Z:-2.00 [[ 9.99474617e-01 -3.22710184e-02 -3.01184082e-03 6.46364981e+00] [ 3.22737200e-02 9.99478704e-01 8.52733116e-04 -3.29314100e-01] [ 2.98275219e-03 -9.49488412e-04 9.99995101e-01 -1.99655611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17719347 meters Centerline goodness [0,1] 0.8893814650622757 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.33, Z:-2.00 [[ 9.99476609e-01 -3.22032788e-02 -3.07516690e-03 6.46390082e+00] [ 3.22068126e-02 9.99480613e-01 1.10663430e-03 -3.30063548e-01] [ 3.03793245e-03 -1.20509642e-03 9.99994659e-01 -1.99670982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20719347 meters Centerline goodness [0,1] 0.8849643210474246 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.33, Z:-2.00 [[ 9.99475708e-01 -3.22057781e-02 -3.33131524e-03 6.46490974e+00] [ 3.22100146e-02 9.99480371e-01 1.22597264e-03 -3.30287640e-01] [ 3.29010078e-03 -1.33263158e-03 9.99993700e-01 -1.99741262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23719347 meters Centerline goodness [0,1] 0.8893171574202788 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99466624e-01 -3.24434003e-02 -3.72747872e-03 6.46694068e+00] [ 3.24493507e-02 9.99472184e-01 1.54710363e-03 -3.32416521e-01] [ 3.67531799e-03 -1.66723271e-03 9.99991856e-01 -1.99919161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26719347 meters Centerline goodness [0,1] 0.8835117141412439 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99467183e-01 -3.24195016e-02 -3.78504565e-03 6.46746124e+00] [ 3.24271831e-02 9.99472127e-01 1.98601045e-03 -3.34152592e-01] [ 3.71866216e-03 -2.10769064e-03 9.99990865e-01 -1.99973502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29719347 meters Centerline goodness [0,1] 0.8675925145410098 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99444264e-01 -3.31302880e-02 -3.68061435e-03 6.46751026e+00] [ 3.31369730e-02 9.99449252e-01 1.77036919e-03 -3.34483198e-01] [ 3.61993442e-03 -1.89134975e-03 9.99991659e-01 -1.99998107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32719347 meters Centerline goodness [0,1] 0.8614026566426626 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99437007e-01 -3.33358485e-02 -3.79332054e-03 6.46788185e+00] [ 3.33418602e-02 9.99442830e-01 1.53277063e-03 -3.33415701e-01] [ 3.74011081e-03 -1.65838406e-03 9.99991631e-01 -2.00016420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35719347 meters Centerline goodness [0,1] 0.8478099951356725 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99539983e-01 -3.00739823e-02 -3.92149900e-03 6.46810526e+00] [ 3.00945881e-02 9.99532973e-01 5.30589693e-03 -3.33690111e-01] [ 3.76009810e-03 -5.42147202e-03 9.99978234e-01 -2.00039730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38719347 meters Centerline goodness [0,1] 0.845400394311842 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99568149e-01 -2.89984529e-02 -4.75439264e-03 6.47094509e+00] [ 2.90274094e-02 9.99559764e-01 6.13897468e-03 -3.32274690e-01] [ 4.57427882e-03 -6.27433126e-03 9.99969854e-01 -2.00199863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41719347 meters Centerline goodness [0,1] 0.8447633561933791 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99571000e-01 -2.88450318e-02 -5.07746720e-03 6.47146517e+00] [ 2.88743572e-02 9.99566220e-01 5.80027514e-03 -3.30300084e-01] [ 4.90795558e-03 -5.94439542e-03 9.99970288e-01 -2.00189241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44719347 meters Centerline goodness [0,1] 0.8665256925354198 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99586283e-01 -2.82794224e-02 -5.24752507e-03 6.47152322e+00] [ 2.83065123e-02 9.99585962e-01 5.16201002e-03 -3.27738171e-01] [ 5.09937373e-03 -5.30841355e-03 9.99972908e-01 -2.00142531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47719347 meters Centerline goodness [0,1] 0.882085448392555 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.33, Z:-2.00 [[ 9.99605562e-01 -2.75553468e-02 -5.42440159e-03 6.47223934e+00] [ 2.75831296e-02 9.99606424e-01 5.11540978e-03 -3.25921115e-01] [ 5.28130979e-03 -5.26301404e-03 9.99972204e-01 -2.00190604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50719347 meters Centerline goodness [0,1] 0.8931562776211119 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.32, Z:-2.00 [[ 9.99704889e-01 -2.36415707e-02 -5.58672526e-03 6.47256469e+00] [ 2.36887567e-02 9.99682935e-01 8.53649492e-03 -3.23777972e-01] [ 5.38313776e-03 -8.66631828e-03 9.99947957e-01 -2.00210001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53719347 meters Centerline goodness [0,1] 0.8989169675090253 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.32, Z:-2.00 [[ 9.99791583e-01 -1.95308385e-02 -5.94455738e-03 6.47339311e+00] [ 1.96002588e-02 9.99737636e-01 1.18527722e-02 -3.20638111e-01] [ 5.71150317e-03 -1.19668168e-02 9.99912083e-01 -2.00249221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56719347 meters Centerline goodness [0,1] 0.8964860287891617 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99989704 -0.00923378 -0.01098388 6.46677533] [ 0.0093365 0.99991282 0.00933736 -0.31479759] [ 0.0108967 -0.00943895 0.99989608 -2.00204689] [ 0. 0. 0. 1. ]] SLAMing on 157.59719347 meters Centerline goodness [0,1] 0.8959549801133959 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990499 -0.0075976 -0.01150146 6.46885901] [ 0.00771513 0.99991812 0.01020906 -0.31337975] [ 0.01142295 -0.01029683 0.99988174 -2.00336118] [ 0. 0. 0. 1. ]] SLAMing on 157.62719347 meters Centerline goodness [0,1] 0.896983758700696 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990735 -0.00708849 -0.01162056 6.46912114] [ 0.00720616 0.99992288 0.0101149 -0.31180724] [ 0.01154796 -0.0101977 0.99988132 -2.00326888] [ 0. 0. 0. 1. ]] SLAMing on 157.65719347 meters Centerline goodness [0,1] 0.8977899389602189 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990577 -0.00714125 -0.01172438 6.46888961] [ 0.00725512 0.99992664 0.00969894 -0.31034235] [ 0.01165426 -0.00978308 0.99988423 -2.00258058] [ 0. 0. 0. 1. ]] SLAMing on 157.68719347 meters Centerline goodness [0,1] 0.8971795411492317 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990561 -0.0078949 -0.01124485 6.46612565] [ 0.00799228 0.99993072 0.00864143 -0.30894236] [ 0.01117584 -0.00873048 0.99989943 -1.99991246] [ 0. 0. 0. 1. ]] SLAMing on 157.71719347 meters Centerline goodness [0,1] 0.897043661230931 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990524 -0.00786206 -0.01130011 6.46599736] [ 0.00795883 0.99993182 0.00854416 -0.3088473 ] [ 0.01123217 -0.00863328 0.99989965 -1.999508 ] [ 0. 0. 0. 1. ]] SLAMing on 157.74719346999998 meters Centerline goodness [0,1] 0.8925836058655976 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990615 -0.00759666 -0.01140078 6.4661527 ] [ 0.00769645 0.99993224 0.00873401 -0.30912808] [ 0.01133366 -0.00882093 0.99989686 -1.99940503] [ 0. 0. 0. 1. ]] SLAMing on 157.77719347 meters Centerline goodness [0,1] 0.8921419518377693 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990625 -0.00734785 -0.01155453 6.46660692] [ 0.00745231 0.99993151 0.00902404 -0.30979383] [ 0.01148743 -0.0091093 0.99989252 -1.99960333] [ 0. 0. 0. 1. ]] SLAMing on 157.80719347 meters Centerline goodness [0,1] 0.8937630684098253 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.31, Z:-2.00 [[ 0.99990706 -0.00684766 -0.01178888 6.4675853 ] [ 0.00696255 0.9999284 0.00973188 -0.31211053] [ 0.01172139 -0.00981305 0.99988315 -2.00024555] [ 0. 0. 0. 1. ]] SLAMing on 157.83719347 meters Centerline goodness [0,1] 0.8954933059565463 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.31, Z:-2.00 [[ 9.99964090e-01 -5.17981434e-03 -6.70729622e-03 6.47648744e+00] [ 5.19342266e-03 9.99984488e-01 2.01305839e-03 -3.12677946e-01] [ 6.69676490e-03 -2.04781993e-03 9.99975480e-01 -2.00195583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86719347 meters Centerline goodness [0,1] 0.895484844673626 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.32, Z:-2.00 [[ 9.99966411e-01 -4.74114961e-03 -6.68574800e-03 6.47643746e+00] [ 4.76062512e-03 9.99984463e-01 2.90008879e-03 -3.15637850e-01] [ 6.67189437e-03 -2.93181971e-03 9.99973445e-01 -2.00188508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89719347 meters Centerline goodness [0,1] 0.8975064596769111 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.32, Z:-2.00 [[ 9.99968038e-01 -4.38641910e-03 -6.68445461e-03 6.47659116e+00] [ 4.41088755e-03 9.99983610e-01 3.65016442e-03 -3.17980036e-01] [ 6.66833390e-03 -3.67953213e-03 9.99970997e-01 -2.00208477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92719347 meters Centerline goodness [0,1] 0.8994701175874518 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.32, Z:-2.00 [[ 9.99968818e-01 -3.93110958e-03 -6.84906116e-03 6.47747013e+00] [ 3.96123581e-03 9.99982515e-01 4.39059439e-03 -3.19567749e-01] [ 6.83168150e-03 -4.41758823e-03 9.99966906e-01 -2.00282770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95719347 meters Centerline goodness [0,1] 0.9003575184016824 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.32, Z:-2.01 [[ 9.99964414e-01 -3.32888651e-03 -7.75177135e-03 6.48214938e+00] [ 3.37042313e-03 9.99980001e-01 5.35145503e-03 -3.22640635e-01] [ 7.73380193e-03 -5.37739135e-03 9.99955635e-01 -2.00651472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98719347 meters Centerline goodness [0,1] 0.9001935131042026 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.33, Z:-2.01 [[ 9.99963243e-01 -2.95198171e-03 -8.04971239e-03 6.48372138e+00] [ 3.00321685e-03 9.99975264e-01 6.36019866e-03 -3.26478648e-01] [ 8.03073808e-03 -6.38413991e-03 9.99947374e-01 -2.00786716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01719347 meters Centerline goodness [0,1] 0.8982166251109327 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.33, Z:-2.01 [[ 9.99950155e-01 -5.72514670e-03 -8.17989975e-03 6.48475582e+00] [ 5.75651068e-03 9.99976151e-01 3.81588870e-03 -3.29368561e-01] [ 8.15785814e-03 -3.86278618e-03 9.99959263e-01 -2.00878812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04719347 meters Centerline goodness [0,1] 0.8962906568540372 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.33, Z:-2.01 [[ 9.99952096e-01 -5.41325501e-03 -8.15494677e-03 6.48499995e+00] [ 5.45439352e-03 9.99972470e-01 5.03084140e-03 -3.33367612e-01] [ 8.12748904e-03 -5.07508069e-03 9.99954093e-01 -2.00913556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07719347 meters Centerline goodness [0,1] 0.8964854069361963 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.34, Z:-2.01 [[ 9.99950797e-01 -5.27872684e-03 -8.39872686e-03 6.48573272e+00] [ 5.33022008e-03 9.99967063e-01 6.12055158e-03 -3.37193932e-01] [ 8.36614152e-03 -6.16501749e-03 9.99945999e-01 -2.00945430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10719347 meters Centerline goodness [0,1] 0.8960791777693187 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.35, Z:-2.01 [[ 9.99930911e-01 -7.56573845e-03 -8.99626681e-03 6.48775577e+00] [ 7.61505044e-03 9.99956100e-01 5.45982059e-03 -3.45815049e-01] [ 8.95456429e-03 -5.52795040e-03 9.99944627e-01 -2.01051338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13719347 meters Centerline goodness [0,1] 0.8967494815253735 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.35, Z:-2.01 [[ 9.99908404e-01 -9.68682385e-03 -9.45241623e-03 6.49007249e+00] [ 9.72424328e-03 9.99945032e-01 3.92081808e-03 -3.50132734e-01] [ 9.41391637e-03 -4.01237654e-03 9.99947638e-01 -2.01225108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16719347 meters Centerline goodness [0,1] 0.8992699497826729 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.35, Z:-2.01 [[ 9.99907802e-01 -9.42309474e-03 -9.77718406e-03 6.49127946e+00] [ 9.47529973e-03 9.99941026e-01 5.30695750e-03 -3.54882165e-01] [ 9.72659950e-03 -5.39910996e-03 9.99938120e-01 -2.01303128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19719347 meters Centerline goodness [0,1] 0.8978334074591778 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.36, Z:-2.01 [[ 0.99990851 -0.00919157 -0.00992381 6.49148418] [ 0.00925704 0.99993556 0.0065719 -0.35926616] [ 0.00986276 -0.00666317 0.99992916 -2.01283705] [ 0. 0. 0. 1. ]] SLAMing on 158.22719347 meters Centerline goodness [0,1] 0.8988737978741353 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.37, Z:-2.01 [[ 9.99876026e-01 -1.18787619e-02 -1.03357851e-02 6.49160804e+00] [ 1.19349271e-02 9.99914252e-01 5.38944192e-03 -3.67298118e-01] [ 1.02708789e-02 -5.51213061e-03 9.99932060e-01 -2.01163843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25719347 meters Centerline goodness [0,1] 0.8988709301586629 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.37, Z:-2.01 [[ 9.99861753e-01 -1.32509960e-02 -1.00441686e-02 6.48969482e+00] [ 1.32964073e-02 9.99901617e-01 4.46794982e-03 -3.71002670e-01] [ 9.98397564e-03 -4.60088350e-03 9.99939574e-01 -2.00974287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28719347 meters Centerline goodness [0,1] 0.9010772714766451 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.37, Z:-2.01 [[ 9.99862163e-01 -1.30051429e-02 -1.03208799e-02 6.48989470e+00] [ 1.30632142e-02 9.99899107e-01 5.57925113e-03 -3.74623874e-01] [ 1.02472797e-02 -5.71330597e-03 9.99931173e-01 -2.00917717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31719347 meters Centerline goodness [0,1] 0.9019517022127713 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.38, Z:-2.01 [[ 9.99833383e-01 -1.46429984e-02 -1.08990433e-02 6.49199104e+00] [ 1.46884236e-02 9.99883715e-01 4.09949703e-03 -3.76445438e-01] [ 1.08377470e-02 -4.25890375e-03 9.99932200e-01 -2.01015640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34719347 meters Centerline goodness [0,1] 0.90128367003367 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.38, Z:-2.01 [[ 9.99830471e-01 -1.45831330e-02 -1.12410291e-02 6.49242380e+00] [ 1.46393592e-02 9.99880656e-01 4.93591383e-03 -3.79500030e-01] [ 1.11677064e-02 -5.09963852e-03 9.99924635e-01 -2.00975237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37719347 meters Centerline goodness [0,1] 0.900031735956839 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.39, Z:-2.01 [[ 9.99797236e-01 -1.69777057e-02 -1.08279635e-02 6.49001484e+00] [ 1.70188438e-02 9.99848254e-01 3.71848260e-03 -3.85288838e-01] [ 1.07631891e-02 -3.90200804e-03 9.99934462e-01 -2.00720810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40719347 meters Centerline goodness [0,1] 0.9005599577390385 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.39, Z:-2.01 [[ 9.99792503e-01 -1.70132959e-02 -1.12026003e-02 6.49062411e+00] [ 1.70642104e-02 9.99844426e-01 4.46508565e-03 -3.88583649e-01] [ 1.11248917e-02 -4.65532269e-03 9.99927280e-01 -2.00698837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43719347 meters Centerline goodness [0,1] 0.9013420691112755 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.39, Z:-2.01 [[ 9.99792304e-01 -1.68368460e-02 -1.14834739e-02 6.49141838e+00] [ 1.68982051e-02 9.99843341e-01 5.26732061e-03 -3.91474225e-01] [ 1.13929899e-02 -5.46027670e-03 9.99920189e-01 -2.00731010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46719347 meters Centerline goodness [0,1] 0.8999809608428 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.40, Z:-2.01 [[ 9.99783782e-01 -1.71873932e-02 -1.17040046e-02 6.49233870e+00] [ 1.72549554e-02 9.99834896e-01 5.69626210e-03 -3.96657658e-01] [ 1.16041683e-02 -5.89698254e-03 9.99915281e-01 -2.00774383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49719346999998 meters Centerline goodness [0,1] 0.9026864788315614 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.40, Z:-2.01 [[ 9.99779342e-01 -1.72360619e-02 -1.20077663e-02 6.49315796e+00] [ 1.73113264e-02 9.99830971e-01 6.19249425e-03 -3.98640717e-01] [ 1.18990024e-02 -6.39899819e-03 9.99908729e-01 -2.00801894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52719347 meters Centerline goodness [0,1] 0.9034768632095423 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.40, Z:-2.01 [[ 9.99771967e-01 -1.74234173e-02 -1.23466136e-02 6.49375503e+00] [ 1.75043608e-02 9.99825798e-01 6.47845967e-03 -3.99839457e-01] [ 1.22315859e-02 -6.69310194e-03 9.99902791e-01 -2.00794989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55719347 meters Centerline goodness [0,1] 0.9037761649311034 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.40, Z:-2.01 [[ 0.99976086 -0.01787867 -0.0125923 6.49412989] [ 0.01796178 0.99981742 0.00651877 -0.40064397] [ 0.01247346 -0.00674339 0.99989946 -2.00768832] [ 0. 0. 0. 1. ]] SLAMing on 158.58719347 meters Centerline goodness [0,1] 0.9025646437994723 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.40, Z:-2.01 [[ 0.99975616 -0.01803824 -0.01273777 6.49415236] [ 0.01812852 0.99981111 0.00700791 -0.40252359] [ 0.01260896 -0.00723712 0.99989431 -2.00722269] [ 0. 0. 0. 1. ]] SLAMing on 158.61719347 meters Centerline goodness [0,1] 0.9034989547479781 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 9.99686835e-01 -2.13476300e-02 -1.30579451e-02 6.49573963e+00] [ 2.14076249e-02 9.99760828e-01 4.47210265e-03 -4.06334230e-01] [ 1.29593532e-02 -4.75024173e-03 9.99904741e-01 -2.00822382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64719347 meters Centerline goodness [0,1] 0.9038914103210623 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 9.99661338e-01 -2.21681899e-02 -1.36301070e-02 6.49873163e+00] [ 2.22234605e-02 9.99745355e-01 3.91701757e-03 -4.07644076e-01] [ 1.35398030e-02 -4.21859917e-03 9.99899434e-01 -2.01048170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67719347 meters Centerline goodness [0,1] 0.9035617711678215 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 9.99672512e-01 -2.15828784e-02 -1.37494605e-02 6.49931997e+00] [ 2.16478450e-02 9.99755104e-01 4.59383604e-03 -4.08815714e-01] [ 1.36469451e-02 -4.88997780e-03 9.99894919e-01 -2.01098520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70719347 meters Centerline goodness [0,1] 0.9051940651315928 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 9.99687342e-01 -2.07340866e-02 -1.39755536e-02 6.50002300e+00] [ 2.08084596e-02 9.99769971e-01 5.19739342e-03 -4.09069762e-01] [ 1.38645757e-02 -5.48657815e-03 9.99888829e-01 -2.01131879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73719347 meters Centerline goodness [0,1] 0.9054250194577084 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 9.99709523e-01 -1.94845669e-02 -1.41852507e-02 6.50025516e+00] [ 1.95698297e-02 9.99791103e-01 5.89686744e-03 -4.08588268e-01] [ 1.40673895e-02 -6.17275748e-03 9.99881996e-01 -2.01105381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76719347 meters Centerline goodness [0,1] 0.9062164494874008 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 0.99980392 -0.01349024 -0.01449617 6.50037561] [ 0.01365761 0.99984049 0.01150962 -0.41012515] [ 0.01433859 -0.01170535 0.99982868 -2.01046861] [ 0. 0. 0. 1. ]] SLAMing on 158.79719347 meters Centerline goodness [0,1] 0.9066905867454622 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 0.99982084 -0.01137333 -0.01513092 6.50252303] [ 0.01157571 0.99984381 0.01335527 -0.41129157] [ 0.01497667 -0.01352803 0.99979633 -2.01164178] [ 0. 0. 0. 1. ]] SLAMing on 158.82719347 meters Centerline goodness [0,1] 0.9083057039680696 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.41, Z:-2.01 [[ 0.99982942 -0.00968679 -0.01572574 6.5046575 ] [ 0.0099233 0.99983778 0.01503157 -0.413066 ] [ 0.01557758 -0.01518505 0.99976335 -2.01288573] [ 0. 0. 0. 1. ]] SLAMing on 158.85719347 meters Centerline goodness [0,1] 0.9076583674755752 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.42, Z:-2.01 [[ 0.99983876 -0.00786174 -0.01614484 6.50679307] [ 0.00814725 0.99981023 0.01769543 -0.4191167 ] [ 0.01600266 -0.01782411 0.99971307 -2.01435721] [ 0. 0. 0. 1. ]] SLAMing on 158.88719347 meters Centerline goodness [0,1] 0.9080283054631229 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.42, Z:-2.02 [[ 0.99981176 -0.01011766 -0.01655559 6.5082803 ] [ 0.01037823 0.99982241 0.01573 -0.4227471 ] [ 0.0163935 -0.01589886 0.99973921 -2.01504277] [ 0. 0. 0. 1. ]] SLAMing on 158.91719347 meters Centerline goodness [0,1] 0.9088976808788248 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.43, Z:-2.02 [[ 0.99978518 -0.0117187 -0.01709597 6.51026373] [ 0.01196536 0.99982475 0.01439815 -0.42681164] [ 0.01692424 -0.01459961 0.99975018 -2.01604689] [ 0. 0. 0. 1. ]] SLAMing on 158.94719347 meters Centerline goodness [0,1] 0.9093977317988386 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.43, Z:-2.02 [[ 0.99976125 -0.01282708 -0.01768932 6.51263123] [ 0.01306612 0.99982397 0.01346502 -0.43035041] [ 0.01751349 -0.01369294 0.99975286 -2.01735911] [ 0. 0. 0. 1. ]] SLAMing on 158.97719347 meters Centerline goodness [0,1] 0.9069904838267254 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.44, Z:-2.02 [[ 0.9998027 -0.01002921 -0.01714557 6.51053257] [ 0.01032478 0.99979811 0.01723794 -0.4382511 ] [ 0.01696923 -0.01741156 0.9997044 -2.01567025] [ 0. 0. 0. 1. ]] SLAMing on 159.00719347 meters Centerline goodness [0,1] 0.9052428244483172 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.44, Z:-2.01 [[ 0.99988011 -0.00723249 -0.01369183 6.51762112] [ 0.00735809 0.99993111 0.00914532 -0.44021704] [ 0.01362474 -0.00924497 0.99986444 -2.01498677] [ 0. 0. 0. 1. ]] SLAMing on 159.03719347 meters Centerline goodness [0,1] 0.9052502743310543 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.44, Z:-2.01 [[ 9.99886648e-01 -6.29879021e-03 -1.36753862e-02 6.51729820e+00] [ 6.44545162e-03 9.99921905e-01 1.07070257e-02 -4.44188804e-01] [ 1.36068769e-02 -1.07939561e-02 9.99849160e-01 -2.01446809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06719347 meters Centerline goodness [0,1] 0.9052502743310543 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.44, Z:-2.01 [[ 9.99886648e-01 -6.29879021e-03 -1.36753862e-02 6.51729820e+00] [ 6.44545162e-03 9.99921905e-01 1.07070257e-02 -4.44188804e-01] [ 1.36068769e-02 -1.07939561e-02 9.99849160e-01 -2.01446809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09719347 meters Centerline goodness [0,1] 0.9054514122394082 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.45, Z:-2.02 [[ 0.99987059 -0.00769302 -0.01412881 6.51903045] [ 0.00784424 0.99991221 0.01067872 -0.45384946] [ 0.01404541 -0.01078817 0.99984316 -2.01518021] [ 0. 0. 0. 1. ]] SLAMing on 159.12719347 meters Centerline goodness [0,1] 0.9052196643899149 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.46, Z:-2.02 [[ 0.99984467 -0.0105825 -0.01409389 6.51968721] [ 0.01070378 0.99990609 0.00855815 -0.45891757] [ 0.014002 -0.00870768 0.99986405 -2.01589888] [ 0. 0. 0. 1. ]] SLAMing on 159.15719347 meters Centerline goodness [0,1] 0.9079744244444914 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.46, Z:-2.02 [[ 0.99981037 -0.0133691 -0.01415968 6.52044756] [ 0.01346272 0.99988801 0.0065367 -0.46389542] [ 0.01407071 -0.00672609 0.99987838 -2.01645599] [ 0. 0. 0. 1. ]] SLAMing on 159.18719347 meters Centerline goodness [0,1] 0.9121903877800751 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.47, Z:-2.02 [[ 9.99763100e-01 -1.63963887e-02 -1.43144009e-02 6.52105203e+00] [ 1.64575623e-02 9.99855885e-01 4.16627873e-03 -4.67992307e-01] [ 1.42440261e-02 -4.40087189e-03 9.99888864e-01 -2.01659358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21719347 meters Centerline goodness [0,1] 0.9122733024040489 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.48, Z:-2.02 [[ 9.99730237e-01 -1.83973930e-02 -1.41770698e-02 6.52067876e+00] [ 1.84511462e-02 9.99823027e-01 3.67012494e-03 -4.76885941e-01] [ 1.41070401e-02 -3.93071806e-03 9.99892765e-01 -2.01586143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24719346999998 meters Centerline goodness [0,1] 0.9135400701253438 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.48, Z:-2.02 [[ 9.99699707e-01 -1.95675308e-02 -1.47515304e-02 6.52269664e+00] [ 1.96128155e-02 9.99803353e-01 2.93142612e-03 -4.81275688e-01] [ 1.46912688e-02 -3.21986488e-03 9.99886893e-01 -2.01677416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27719347 meters Centerline goodness [0,1] 0.9151858005089273 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.49, Z:-2.02 [[ 9.99712414e-01 -1.88347565e-02 -1.48438770e-02 6.52311820e+00] [ 1.89077478e-02 9.99809747e-01 4.79235006e-03 -4.86971029e-01] [ 1.47507902e-02 -5.07163613e-03 9.99878339e-01 -2.01682940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30719347 meters Centerline goodness [0,1] 0.9152792724356945 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.49, Z:-2.02 [[ 0.99972651 -0.01805536 -0.01486305 6.52321821] [ 0.01815831 0.99981186 0.00682113 -0.49295178] [ 0.01473709 -0.00708916 0.99986627 -2.01664835] [ 0. 0. 0. 1. ]] SLAMing on 159.33719347 meters Centerline goodness [0,1] 0.9175222884184729 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.50, Z:-2.02 [[ 0.99968594 -0.02025293 -0.01475939 6.52460284] [ 0.020359 0.99976772 0.00707202 -0.50430494] [ 0.01461273 -0.00737028 0.99986606 -2.01806406] [ 0. 0. 0. 1. ]] SLAMing on 159.36719347 meters Centerline goodness [0,1] 0.925748076076244 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.51, Z:-2.02 [[ 9.99608246e-01 -2.34530080e-02 -1.52745004e-02 6.52768767e+00] [ 2.35326584e-02 9.99710284e-01 5.05588255e-03 -5.09537940e-01] [ 1.51514994e-02 -5.41335148e-03 9.99870555e-01 -2.02022619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39719347 meters Centerline goodness [0,1] 0.9277901644861386 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.52, Z:-2.02 [[ 9.99520956e-01 -2.68081682e-02 -1.54654856e-02 6.52915416e+00] [ 2.68600438e-02 9.99634221e-01 3.15633892e-03 -5.15390828e-01] [ 1.53752130e-02 -3.57023051e-03 9.99875420e-01 -2.02112059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42719347 meters Centerline goodness [0,1] 0.9295171748116751 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.52, Z:-2.02 [[ 9.99404672e-01 -3.07212362e-02 -1.57005672e-02 6.53086525e+00] [ 3.07407268e-02 9.99526890e-01 1.00150811e-03 -5.21986674e-01] [ 1.56623715e-02 -1.48355873e-03 9.99876237e-01 -2.02207528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45719347 meters Centerline goodness [0,1] 0.929051483641897 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.53, Z:-2.02 [[ 9.99272168e-01 -3.47652402e-02 -1.57006879e-02 6.53143794e+00] [ 3.47503980e-02 9.99395281e-01 -1.21723629e-03 -5.28539219e-01] [ 1.57335109e-02 6.70745191e-04 9.99875996e-01 -2.02208059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48719347 meters Centerline goodness [0,1] 0.9256212329491382 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.54, Z:-2.02 [[ 9.99123708e-01 -3.87316919e-02 -1.58641769e-02 6.53218651e+00] [ 3.86827047e-02 9.99245816e-01 -3.38333104e-03 -5.35402212e-01] [ 1.59832546e-02 2.76669698e-03 9.99868432e-01 -2.02184731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51719347 meters Centerline goodness [0,1] 0.9193259986957528 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.55, Z:-2.02 [[ 9.98810650e-01 -4.78173249e-02 -9.52830647e-03 6.54260206e+00] [ 4.77917290e-02 9.98853123e-01 -2.89626305e-03 -5.48783459e-01] [ 9.65587023e-03 2.43744414e-03 9.99950410e-01 -2.02440893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54719347 meters Centerline goodness [0,1] 0.9091827287265382 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.55, Z:-2.03 [[ 9.98613908e-01 -5.17629210e-02 -9.53215862e-03 6.54357850e+00] [ 5.17066601e-02 9.98643947e-01 -6.05715917e-03 -5.51750865e-01] [ 9.83276876e-03 5.55588730e-03 9.99936222e-01 -2.02503258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57719347 meters Centerline goodness [0,1] 0.8937587212989978 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.56, Z:-2.03 [[ 9.98588265e-01 -5.22169420e-02 -9.74005521e-03 6.54473187e+00] [ 5.21679902e-02 9.98624711e-01 -5.21411720e-03 -5.55234786e-01] [ 9.99892507e-03 4.69863714e-03 9.99938970e-01 -2.02567598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60719347 meters Centerline goodness [0,1] 0.8796844598595719 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.56, Z:-2.03 [[ 9.98533248e-01 -5.32308432e-02 -9.89089021e-03 6.54592191e+00] [ 5.31814809e-02 9.98571384e-01 -5.18859984e-03 -5.55763783e-01] [ 1.01529535e-02 4.65497727e-03 9.99937622e-01 -2.02654952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63719347 meters Centerline goodness [0,1] 0.842536300010446 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.56, Z:-2.03 [[ 9.98674670e-01 -5.09166576e-02 -7.50979392e-03 6.56453079e+00] [ 5.08895803e-02 9.98697231e-01 -3.75377853e-03 -5.55797157e-01] [ 7.69114025e-03 3.36663328e-03 9.99964755e-01 -2.02640732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66719347 meters Centerline goodness [0,1] 0.8743574618690486 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.55, Z:-2.03 [[ 9.98672297e-01 -5.09636373e-02 -7.50671024e-03 6.56412187e+00] [ 5.09338336e-02 9.98693575e-01 -4.10945191e-03 -5.54006560e-01] [ 7.70633591e-03 3.72165025e-03 9.99963380e-01 -2.02585468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69719347 meters Centerline goodness [0,1] 0.879761629008823 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.55, Z:-2.02 [[ 9.98847293e-01 -4.73413812e-02 -7.92968011e-03 6.56411104e+00] [ 4.73413996e-02 9.98878750e-01 -1.85479670e-04 -5.54287642e-01] [ 7.92956982e-03 -1.90136289e-04 9.99968542e-01 -2.02496067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72719347 meters Centerline goodness [0,1] 0.900191252810996 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.55, Z:-2.02 [[ 9.99099144e-01 -4.08459216e-02 -1.15113198e-02 6.56962957e+00] [ 4.08043759e-02 9.99159848e-01 -3.82125204e-03 -5.50375417e-01] [ 1.16577311e-02 3.34809742e-03 9.99926441e-01 -2.01853333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75719347 meters Centerline goodness [0,1] 0.9100099191693223 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.55, Z:-2.02 [[ 9.99256375e-01 -3.66993747e-02 -1.18259208e-02 6.56969815e+00] [ 3.66975064e-02 9.99326349e-01 -3.75014193e-04 -5.47770697e-01] [ 1.18317171e-02 -5.92464819e-05 9.99930001e-01 -2.01824780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78719347 meters Centerline goodness [0,1] 0.9175381631103989 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.54, Z:-2.02 [[ 9.99388371e-01 -3.27164820e-02 -1.23497519e-02 6.57065717e+00] [ 3.27509406e-02 9.99460167e-01 2.59832200e-03 -5.43665247e-01] [ 1.22580771e-02 -3.00119878e-03 9.99920363e-01 -2.01871176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81719347 meters Centerline goodness [0,1] 0.9216455696202531 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.54, Z:-2.02 [[ 9.99507003e-01 -2.86570014e-02 -1.28267816e-02 6.57176771e+00] [ 2.87294795e-02 9.99572079e-01 5.50235392e-03 -5.38843694e-01] [ 1.26636118e-02 -5.86814804e-03 9.99902594e-01 -2.01946568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84719347 meters Centerline goodness [0,1] 0.9221861289233885 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.53, Z:-2.02 [[ 0.99970467 -0.01870256 -0.01551717 6.57644272] [ 0.01888798 0.99975091 0.01188994 -0.53071404] [ 0.01529093 -0.01217951 0.99980891 -2.0209947 ] [ 0. 0. 0. 1. ]] SLAMing on 159.87719347 meters Centerline goodness [0,1] 0.9211498279901227 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.53, Z:-2.02 [[ 9.99823588e-01 -1.28174826e-02 -1.37297013e-02 6.58517297e+00] [ 1.28903676e-02 9.99903221e-01 5.23328528e-03 -5.26511988e-01] [ 1.36612950e-02 -5.40934296e-03 9.99892048e-01 -2.02107036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90719347 meters Centerline goodness [0,1] 0.9187757255936675 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.53, Z:-2.02 [[ 0.99985643 -0.00931736 -0.01415288 6.58677614] [ 0.00943709 0.99992005 0.00841685 -0.52548288] [ 0.01407332 -0.00854921 0.99986442 -2.02212075] [ 0. 0. 0. 1. ]] SLAMing on 159.93719347 meters Centerline goodness [0,1] 0.9176862712007425 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.52, Z:-2.02 [[ 0.99985379 -0.00907959 -0.01449011 6.58791091] [ 0.00919828 0.99992452 0.00814546 -0.52443465] [ 0.01441506 -0.00827755 0.99986183 -2.02287027] [ 0. 0. 0. 1. ]] SLAMing on 159.96719347 meters Centerline goodness [0,1] 0.9137133075508781 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.52, Z:-2.02 [[ 0.99985175 -0.00910326 -0.01461507 6.58864308] [ 0.00921997 0.99992599 0.00793782 -0.52404465] [ 0.01454173 -0.00807139 0.99986169 -2.0235278 ] [ 0. 0. 0. 1. ]] SLAMing on 159.99719346999998 meters Centerline goodness [0,1] 0.9168776371308017 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.52, Z:-2.02 [[ 0.9998307 -0.01051425 -0.01510025 6.59059036] [ 0.0106216 0.99991876 0.00704663 -0.524377 ] [ 0.01502493 -0.00720583 0.99986115 -2.02463076] [ 0. 0. 0. 1. ]] SLAMing on 160.02719347 meters Centerline goodness [0,1] 0.9166191471836787 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.53, Z:-2.02 [[ 0.99982272 -0.01098604 -0.01529182 6.59131855] [ 0.01110009 0.99991106 0.0073936 -0.52653942] [ 0.01520923 -0.00756203 0.99985574 -2.02491686] [ 0. 0. 0. 1. ]] SLAMing on 160.05719347 meters Centerline goodness [0,1] 0.9156330151789093 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.53, Z:-2.03 [[ 9.99779500e-01 -1.38201002e-02 -1.58099815e-02 6.59432388e+00] [ 1.39001887e-02 9.99891051e-01 4.96706439e-03 -5.27953934e-01] [ 1.57396137e-02 -5.18573088e-03 9.99862677e-01 -2.02721132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08719347 meters Centerline goodness [0,1] 0.9116390648344942 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.53, Z:-2.03 [[ 9.99683555e-01 -1.90889130e-02 -1.63829885e-02 6.59744563e+00] [ 1.91092757e-02 9.99816810e-01 1.08726010e-03 -5.31897124e-01] [ 1.63592327e-02 -1.39998308e-03 9.99865199e-01 -2.02944838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11719347 meters Centerline goodness [0,1] 0.909411864191789 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.54, Z:-2.03 [[ 9.99669661e-01 -1.95499155e-02 -1.66843994e-02 6.59845270e+00] [ 1.95827955e-02 9.99806601e-01 1.80959023e-03 -5.35864808e-01] [ 1.66457953e-02 -2.13571964e-03 9.99859168e-01 -2.02975456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14719347 meters Centerline goodness [0,1] 0.9075529589778076 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99646107e-01 -2.42483437e-02 -1.09397340e-02 6.60905000e+00] [ 2.43167000e-02 9.99685331e-01 6.15929001e-03 -5.39469292e-01] [ 1.07869390e-02 -6.42312851e-03 9.99921190e-01 -2.03283302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17719347 meters Centerline goodness [0,1] 0.9068447831822274 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99549189e-01 -2.79647091e-02 -1.09267224e-02 6.60882582e+00] [ 2.79939752e-02 9.99604878e-01 2.53466656e-03 -5.40187792e-01] [ 1.08515238e-02 -2.83940630e-03 9.99937089e-01 -2.03224346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20719347 meters Centerline goodness [0,1] 0.906429922252574 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99555791e-01 -2.76942219e-02 -1.10113802e-02 6.60827224e+00] [ 2.77325955e-02 9.99609772e-01 3.34759068e-03 -5.42213779e-01] [ 1.09143743e-02 -3.65147781e-03 9.99933769e-01 -2.03106751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23719347 meters Centerline goodness [0,1] 0.9120190685116436 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99562162e-01 -2.74437031e-02 -1.10601684e-02 6.60780692e+00] [ 2.74868169e-02 9.99615075e-01 3.76510704e-03 -5.42929727e-01] [ 1.09525826e-02 -4.06746736e-03 9.99931746e-01 -2.03022957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26719347 meters Centerline goodness [0,1] 0.9102707730030227 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99570792e-01 -2.70511650e-02 -1.12457579e-02 6.60764408e+00] [ 2.70960439e-02 9.99625391e-01 3.85768922e-03 -5.42193354e-01] [ 1.11371902e-02 -4.16074901e-03 9.99929323e-01 -2.02958327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29719347 meters Centerline goodness [0,1] 0.9134006250527916 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99567380e-01 -2.70612900e-02 -1.15212749e-02 6.60840438e+00] [ 2.71048222e-02 9.99625973e-01 3.63916432e-03 -5.41347413e-01] [ 1.14184851e-02 -3.94987205e-03 9.99927006e-01 -2.02989782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32719347 meters Centerline goodness [0,1] 0.9140491328869268 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99562872e-01 -2.70398170e-02 -1.19546325e-02 6.60940824e+00] [ 2.70848660e-02 9.99626574e-01 3.62260491e-03 -5.41148994e-01] [ 1.18522137e-02 -3.94481098e-03 9.99921979e-01 -2.03012199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35719347 meters Centerline goodness [0,1] 0.9123933429078314 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99554465e-01 -2.72373221e-02 -1.22065368e-02 6.61023630e+00] [ 2.72833057e-02 9.99621199e-01 3.61654408e-03 -5.41566073e-01] [ 1.21034079e-02 -3.94796746e-03 9.99918957e-01 -2.03053213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38719347 meters Centerline goodness [0,1] 0.90937123788202 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99536589e-01 -2.78012289e-02 -1.23975100e-02 6.61136250e+00] [ 2.78467532e-02 9.99606025e-01 3.51463436e-03 -5.41805140e-01] [ 1.22949145e-02 -3.85823604e-03 9.99916971e-01 -2.03149154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41719347 meters Centerline goodness [0,1] 0.9056954930947698 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99520304e-01 -2.82302552e-02 -1.27363704e-02 6.61272718e+00] [ 2.82735359e-02 9.99595002e-01 3.23099400e-03 -5.41262836e-01] [ 1.26400004e-02 -3.58954633e-03 9.99913669e-01 -2.03240836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44719347 meters Centerline goodness [0,1] 0.9004887750999767 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.54, Z:-2.03 [[ 9.99506689e-01 -2.85086396e-02 -1.31770795e-02 6.61393858e+00] [ 2.85524271e-02 9.99587343e-01 3.14686773e-03 -5.41252696e-01] [ 1.30819290e-02 -3.52155295e-03 9.99908227e-01 -2.03281560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47719347 meters Centerline goodness [0,1] 0.9003398221178049 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.54, Z:-2.04 [[ 9.99554829e-01 -2.87288057e-02 -8.04983576e-03 6.62607824e+00] [ 2.86795607e-02 9.99569629e-01 -6.16760606e-03 -5.38751951e-01] [ 8.22355930e-03 5.93399466e-03 9.99948579e-01 -2.03586886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50719347 meters Centerline goodness [0,1] 0.9024044363544004 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.54, Z:-2.03 [[ 9.99559184e-01 -2.85479985e-02 -8.15164740e-03 6.62549527e+00] [ 2.84989731e-02 9.99575402e-01 -6.06831202e-03 -5.38634043e-01] [ 8.32142438e-03 5.83332343e-03 9.99948362e-01 -2.03474097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53719347 meters Centerline goodness [0,1] 0.9079086711568602 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.54, Z:-2.03 [[ 9.99656672e-01 -2.47546288e-02 -8.58752061e-03 6.62539164e+00] [ 2.47403314e-02 9.99692349e-01 -1.76717715e-03 -5.40009226e-01] [ 8.62862447e-03 1.55411232e-03 9.99961565e-01 -2.03353675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56719347 meters Centerline goodness [0,1] 0.9053470187788479 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.54, Z:-2.03 [[ 9.99658931e-01 -2.45833341e-02 -8.81365839e-03 6.62558548e+00] [ 2.45662542e-02 9.99696121e-01 -2.04096201e-03 -5.38190702e-01] [ 8.86115375e-03 1.82374733e-03 9.99959076e-01 -2.03323936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59719347 meters Centerline goodness [0,1] 0.9071647793417292 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.54, Z:-2.03 [[ 9.99740840e-01 -2.08584351e-02 -9.12019133e-03 6.62580255e+00] [ 2.08760250e-02 9.99780383e-01 1.83773250e-03 -5.37720810e-01] [ 9.07985616e-03 -2.02764958e-03 9.99956721e-01 -2.03284840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62719347 meters Centerline goodness [0,1] 0.910119248985115 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.53, Z:-2.03 [[ 9.99792860e-01 -1.80259619e-02 -9.44997955e-03 6.62662286e+00] [ 1.80651599e-02 9.99828491e-01 4.07911673e-03 -5.32396756e-01] [ 9.37482879e-03 -4.24898717e-03 9.99947028e-01 -2.03326311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65719347 meters Centerline goodness [0,1] 0.9098102270082722 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.53, Z:-2.03 [[ 9.99784849e-01 -1.83298278e-02 -9.70939486e-03 6.62750472e+00] [ 1.83639079e-02 9.99825477e-01 3.43255351e-03 -5.30161469e-01] [ 9.64478224e-03 -3.61011743e-03 9.99946971e-01 -2.03381712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68719347 meters Centerline goodness [0,1] 0.9068072340065917 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.53, Z:-2.03 [[ 9.99774756e-01 -1.87381531e-02 -9.96586385e-03 6.62832660e+00] [ 1.87681019e-02 9.99819599e-01 2.92015137e-03 -5.28761887e-01] [ 9.90934776e-03 -3.10653397e-03 9.99946076e-01 -2.03422801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71719347 meters Centerline goodness [0,1] 0.9028901734104047 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.53, Z:-2.03 [[ 9.99751630e-01 -1.97500831e-02 -1.03253458e-02 6.62954426e+00] [ 1.97712744e-02 9.99802619e-01 1.95431994e-03 -5.27397768e-01] [ 1.02847098e-02 -2.15797979e-03 9.99944782e-01 -2.03477878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74719346999998 meters Centerline goodness [0,1] 0.8979229989868288 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.53, Z:-2.03 [[ 9.99738533e-01 -2.03235581e-02 -1.04793912e-02 6.62967859e+00] [ 2.03422663e-02 9.99791660e-01 1.68174166e-03 -5.27302899e-01] [ 1.04430290e-02 -1.89447650e-03 9.99943675e-01 -2.03444478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77719347 meters Centerline goodness [0,1] 0.867361271252175 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.52, Z:-2.03 [[ 9.99707440e-01 -2.35869216e-02 -5.35636904e-03 6.64460883e+00] [ 2.35707067e-02 9.99717457e-01 -3.07043611e-03 -5.24688697e-01] [ 5.42727777e-03 2.94328442e-03 9.99980941e-01 -2.03272269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80719347 meters Centerline goodness [0,1] 0.8897845491569774 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.52, Z:-2.03 [[ 9.99694542e-01 -2.40884435e-02 -5.52899003e-03 6.64482435e+00] [ 2.40685213e-02 9.99703677e-01 -3.64193599e-03 -5.23138202e-01] [ 5.61508023e-03 3.50774892e-03 9.99978083e-01 -2.03249490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83719347 meters Centerline goodness [0,1] 0.852591815320042 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.52, Z:-2.03 [[ 9.99677961e-01 -2.46816862e-02 -5.89826591e-03 6.64576401e+00] [ 2.46547059e-02 9.99685425e-01 -4.60404607e-03 -5.20529384e-01] [ 6.01004609e-03 4.45714337e-03 9.99972006e-01 -2.03277156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86719347 meters Centerline goodness [0,1] 0.8963952555822886 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.51, Z:-2.03 [[ 9.99749839e-01 -2.15245234e-02 -6.07895200e-03 6.64617970e+00] [ 2.15103083e-02 9.99765760e-01 -2.39419600e-03 -5.14261646e-01] [ 6.12906199e-03 2.26283694e-03 9.99978657e-01 -2.03308783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89719347 meters Centerline goodness [0,1] 0.8893015253561612 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.51, Z:-2.03 [[ 9.99804751e-01 -1.86538691e-02 -6.51870574e-03 6.64730128e+00] [ 1.86543638e-02 9.99825992e-01 1.50891938e-05 -5.10575323e-01] [ 6.51728997e-03 -1.36688556e-04 9.99978753e-01 -2.03352806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92719347 meters Centerline goodness [0,1] 0.9031200067277774 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.51, Z:-2.03 [[ 9.99860439e-01 -1.52328921e-02 -6.86019364e-03 6.64808485e+00] [ 1.52542555e-02 9.99878926e-01 3.07263323e-03 -5.08101614e-01] [ 6.81255796e-03 -3.17685156e-03 9.99971748e-01 -2.03383854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95719347 meters Centerline goodness [0,1] 0.9031200067277774 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.51, Z:-2.03 [[ 9.99860439e-01 -1.52328921e-02 -6.86019364e-03 6.64808485e+00] [ 1.52542555e-02 9.99878926e-01 3.07263323e-03 -5.08101614e-01] [ 6.81255796e-03 -3.17685156e-03 9.99971748e-01 -2.03383854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98719347 meters Centerline goodness [0,1] 0.8995310471883766 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.51, Z:-2.04 [[ 9.99874903e-01 -1.39152928e-02 -7.51949357e-03 6.65110970e+00] [ 1.39442157e-02 9.99895524e-01 3.80775337e-03 -5.05559417e-01] [ 7.46572196e-03 -3.91213047e-03 9.99964478e-01 -2.03603076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01719347 meters Centerline goodness [0,1] 0.9035214968989803 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.50, Z:-2.04 [[ 9.99913899e-01 -1.05650761e-02 -7.78293240e-03 6.65303816e+00] [ 1.06112887e-02 9.99926171e-01 5.92052087e-03 -5.01034033e-01] [ 7.71980704e-03 -6.00259805e-03 9.99952186e-01 -2.03819565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04719347 meters Centerline goodness [0,1] 0.9048189731298095 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.50, Z:-2.04 [[ 0.99993319 -0.0079292 -0.00841054 6.65569413] [ 0.00799816 0.99993442 0.0081969 -0.49819742] [ 0.008345 -0.00826362 0.99993103 -2.04012466] [ 0. 0. 0. 1. ]] SLAMing on 161.07719347 meters Centerline goodness [0,1] 0.9018399729912221 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.49, Z:-2.04 [[ 0.99993453 -0.00766253 -0.00849789 6.65623877] [ 0.00772552 0.99994274 0.00740508 -0.49360224] [ 0.00844066 -0.00747025 0.99993647 -2.04076421] [ 0. 0. 0. 1. ]] SLAMing on 161.10719347 meters Centerline goodness [0,1] 0.9016123586020598 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.49, Z:-2.04 [[ 9.99933510e-01 -7.70781312e-03 -8.57703718e-03 6.65681352e+00] [ 7.76169363e-03 9.99950242e-01 6.26649543e-03 -4.88947668e-01] [ 8.52830943e-03 -6.33265110e-03 9.99943581e-01 -2.04141643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13719347 meters Centerline goodness [0,1] 0.8999305949902202 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.48, Z:-2.04 [[ 9.99945180e-01 -5.20396836e-03 -9.08604630e-03 6.65906729e+00] [ 5.27766420e-03 9.99953220e-01 8.10583113e-03 -4.84868355e-01] [ 9.04343876e-03 -8.15333987e-03 9.99925867e-01 -2.04314969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16719347 meters Centerline goodness [0,1] 0.8988662035766315 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.48, Z:-2.04 [[ 9.99942650e-01 -5.36216577e-03 -9.27063248e-03 6.65942086e+00] [ 5.43322580e-03 9.99955925e-01 7.65695026e-03 -4.83450147e-01] [ 9.22916603e-03 -7.70688057e-03 9.99927711e-01 -2.04312142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19719347 meters Centerline goodness [0,1] 0.8987644479872459 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.48, Z:-2.05 [[ 9.99978522e-01 -3.25881113e-03 -5.68641191e-03 6.66989141e+00] [ 3.25328785e-03 9.99994228e-01 -9.80291977e-04 -4.81278636e-01] [ 5.68957368e-03 9.61771388e-04 9.99983352e-01 -2.04533978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22719347 meters Centerline goodness [0,1] 0.8985736591129678 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.48, Z:-2.04 [[ 9.99978585e-01 -3.13268364e-03 -5.74596195e-03 6.66960812e+00] [ 3.12614308e-03 9.99994456e-01 -1.14691622e-03 -4.80051451e-01] [ 5.74952302e-03 1.12892896e-03 9.99982834e-01 -2.04475626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25719347 meters Centerline goodness [0,1] 0.8977973197568005 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.48, Z:-2.04 [[ 9.99976873e-01 -2.97854915e-03 -6.11412166e-03 6.66999425e+00] [ 2.97077228e-03 9.99994767e-01 -1.28064000e-03 -4.79019757e-01] [ 6.11790412e-03 1.26244672e-03 9.99980489e-01 -2.04426851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28719347 meters Centerline goodness [0,1] 0.8982163139960456 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.48, Z:-2.04 [[ 9.99979926e-01 7.18315305e-04 -6.29539269e-03 6.67002796e+00] [-7.05243606e-04 9.99997592e-01 2.07836543e-03 -4.77295873e-01] [ 6.29687045e-03 -2.07388392e-03 9.99978024e-01 -2.04376553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31719347 meters Centerline goodness [0,1] 0.898033778674061 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99978828e-01 5.81142928e-04 -6.48115993e-03 6.67076902e+00] [-5.73426259e-04 9.99999125e-01 1.19242570e-03 -4.73881223e-01] [ 6.48184723e-03 -1.18868399e-03 9.99978286e-01 -2.04425387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34719347 meters Centerline goodness [0,1] 0.8983432151717758 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99977910e-01 5.20908179e-04 -6.62630221e-03 6.67111076e+00] [-5.17669181e-04 9.99999746e-01 4.90515054e-04 -4.70883046e-01] [ 6.62655604e-03 -4.87073986e-04 9.99977926e-01 -2.04435337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37719347 meters Centerline goodness [0,1] 0.8986581846523287 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99977693e-01 5.01213299e-04 -6.66055724e-03 6.67032085e+00] [-5.00254147e-04 9.99999864e-01 1.45670011e-04 -4.69718360e-01] [ 6.66062935e-03 -1.42334790e-04 9.99977808e-01 -2.04309141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40719347 meters Centerline goodness [0,1] 0.9010903426791277 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99977334e-01 3.60618684e-04 -6.72325048e-03 6.67013673e+00] [-3.58590317e-04 9.99999890e-01 3.02897342e-04 -4.70919421e-01] [ 6.72335897e-03 -3.00479584e-04 9.99977353e-01 -2.04258161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43719347 meters Centerline goodness [0,1] 0.8982764447448462 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99977147e-01 -3.65190069e-05 -6.76047253e-03 6.66993665e+00] [ 3.88967768e-05 9.99999937e-01 3.51585376e-04 -4.72147237e-01] [ 6.76045927e-03 -3.51840302e-04 9.99977086e-01 -2.04211577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46719347 meters Centerline goodness [0,1] 0.8991928668018931 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99976357e-01 -4.92430311e-04 -6.85880296e-03 6.67008313e+00] [ 4.94129244e-04 9.99999848e-01 2.46008814e-04 -4.72612081e-01] [ 6.85868077e-03 -2.49392133e-04 9.99976448e-01 -2.04196472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49719346999998 meters Centerline goodness [0,1] 0.8995486755525561 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99974183e-01 -1.08661863e-03 -7.10301507e-03 6.67089699e+00] [ 1.08680184e-03 9.99999409e-01 2.19336494e-05 -4.72536445e-01] [ 7.10298704e-03 -2.96526531e-05 9.99974773e-01 -2.04230285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52719347 meters Centerline goodness [0,1] 0.8981537752258011 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99966379e-01 -2.83641388e-03 -7.69386222e-03 6.67309676e+00] [ 2.82518992e-03 9.99994930e-01 -1.46929628e-03 -4.70687094e-01] [ 7.69799074e-03 1.44751026e-03 9.99969322e-01 -2.04358417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55719347 meters Centerline goodness [0,1] 0.8971341054044981 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99964714e-01 -3.03411058e-03 -7.83363689e-03 6.67325900e+00] [ 3.02336986e-03 9.99994474e-01 -1.38258170e-03 -4.71312452e-01] [ 7.83778850e-03 1.35884893e-03 9.99968361e-01 -2.04339928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58719347 meters Centerline goodness [0,1] 0.898953165727739 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99964093e-01 -3.04280774e-03 -7.90914711e-03 6.67307317e+00] [ 3.03432920e-03 9.99994809e-01 -1.08377134e-03 -4.72451359e-01] [ 7.91240376e-03 1.05973347e-03 9.99968135e-01 -2.04288511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61719347 meters Centerline goodness [0,1] 0.8998438686809014 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99962719e-01 -3.52191685e-03 -7.88391096e-03 6.67268214e+00] [ 3.51302348e-03 9.99993178e-01 -1.14160392e-03 -4.73447062e-01] [ 7.88787780e-03 1.11386500e-03 9.99968270e-01 -2.04227147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64719347 meters Centerline goodness [0,1] 0.8990860384494169 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99958971e-01 -3.94943592e-03 -8.15224159e-03 6.67331522e+00] [ 3.93815288e-03 9.99991266e-01 -1.39963046e-03 -4.73127932e-01] [ 8.15769814e-03 1.36746826e-03 9.99965790e-01 -2.04231537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67719347 meters Centerline goodness [0,1] 0.8955365023326188 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99956497e-01 -4.19123071e-03 -8.33298100e-03 6.67341706e+00] [ 4.17912561e-03 9.99990188e-01 -1.46955579e-03 -4.73124859e-01] [ 8.33905848e-03 1.43466729e-03 9.99964200e-01 -2.04191957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70719347 meters Centerline goodness [0,1] 0.8898068150764121 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99953364e-01 -5.00456535e-03 -8.25980602e-03 6.67315666e+00] [ 4.98674102e-03 9.99985196e-01 -2.17714714e-03 -4.71483094e-01] [ 8.27057942e-03 2.13585609e-03 9.99963517e-01 -2.04159274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73719347 meters Centerline goodness [0,1] 0.8816550683323552 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99949120e-01 -5.43068937e-03 -8.50085317e-03 6.67381556e+00] [ 5.40831544e-03 9.99981856e-01 -2.65274238e-03 -4.70027071e-01] [ 8.51510515e-03 2.60663211e-03 9.99960348e-01 -2.04176001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76719347 meters Centerline goodness [0,1] 0.8651612225606554 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99944515e-01 -5.88795019e-03 -8.73497305e-03 6.67417123e+00] [ 5.86104598e-03 9.99978011e-01 -3.10246445e-03 -4.68879207e-01] [ 8.75304814e-03 3.05109623e-03 9.99957037e-01 -2.04158527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79719347 meters Centerline goodness [0,1] 0.8557942982087293 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.47, Z:-2.04 [[ 9.99939634e-01 -6.42734070e-03 -8.91169740e-03 6.67461800e+00] [ 6.39501237e-03 9.99972885e-01 -3.65139159e-03 -4.67665293e-01] [ 8.93492450e-03 3.59418076e-03 9.99953623e-01 -2.04165753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82719347 meters Centerline goodness [0,1] 0.814887221206197 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.46, Z:-2.04 [[ 9.99927433e-01 -7.73205311e-03 -9.23822391e-03 6.67603684e+00] [ 7.68131637e-03 9.99955290e-01 -5.51496266e-03 -4.63029395e-01] [ 9.28045286e-03 5.44360073e-03 9.99942119e-01 -2.04263074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85719347 meters Centerline goodness [0,1] 0.7918434205552523 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.46, Z:-2.04 [[ 9.99943715e-01 -4.81479089e-03 -9.45437656e-03 6.67711835e+00] [ 4.79294944e-03 9.99985796e-01 -2.33149575e-03 -4.61800308e-01] [ 9.46546793e-03 2.28605017e-03 9.99952588e-01 -2.04349509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88719347 meters Centerline goodness [0,1] 0.7855890862247377 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.46, Z:-2.04 [[ 9.99947496e-01 -2.51627052e-03 -9.93341856e-03 6.67899345e+00] [ 2.51696652e-03 9.99996831e-01 5.75658654e-05 -4.59464495e-01] [ 9.93324223e-03 -8.25649249e-05 9.99950661e-01 -2.04474845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91719347 meters Centerline goodness [0,1] 0.7667539377560069 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.45, Z:-2.05 [[ 9.99945571e-01 -1.23678861e-03 -1.03597946e-02 6.68157018e+00] [ 1.24280522e-03 9.99999063e-01 5.74347800e-04 -4.52606727e-01] [ 1.03590745e-02 -5.87191746e-04 9.99946171e-01 -2.04700547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94719347 meters Centerline goodness [0,1] 0.7667539377560069 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.45, Z:-2.05 [[ 9.99945571e-01 -1.23678861e-03 -1.03597946e-02 6.68157018e+00] [ 1.24280522e-03 9.99999063e-01 5.74347800e-04 -4.52606727e-01] [ 1.03590745e-02 -5.87191746e-04 9.99946171e-01 -2.04700547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97719347 meters Centerline goodness [0,1] 0.7511460379829732 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.44, Z:-2.05 [[ 9.99947176e-01 -1.58313324e-03 -1.01557030e-02 6.68069186e+00] [ 1.57739410e-03 9.99998592e-01 -5.73100502e-04 -4.44857028e-01] [ 1.01565959e-02 5.57050683e-04 9.99948265e-01 -2.04618123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00719347 meters Centerline goodness [0,1] 0.740616847597408 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.44, Z:-2.05 [[ 9.99944171e-01 -2.25672048e-03 -1.03229367e-02 6.68080650e+00] [ 2.23898547e-03 9.99995998e-01 -1.72925375e-03 -4.41341260e-01] [ 1.03267978e-02 1.70604430e-03 9.99945222e-01 -2.04577198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03719347 meters Centerline goodness [0,1] 0.7549545742657934 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.44, Z:-2.04 [[ 9.99941168e-01 -2.88078340e-03 -1.04575712e-02 6.68045985e+00] [ 2.84938416e-03 9.99991392e-01 -3.01619520e-03 -4.37263106e-01] [ 1.04661702e-02 2.98622011e-03 9.99940769e-01 -2.04483596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06719347 meters Centerline goodness [0,1] 0.7335964582550223 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.43, Z:-2.04 [[ 9.99966847e-01 -3.04607167e-03 -7.55152105e-03 6.69841206e+00] [ 3.00363274e-03 9.99979669e-01 -5.62490392e-03 -4.32675218e-01] [ 7.56850138e-03 5.60203544e-03 9.99955667e-01 -2.04476012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09719347 meters Centerline goodness [0,1] 0.7734393167452381 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.43, Z:-2.04 [[ 9.99966116e-01 2.53753661e-03 -7.83117189e-03 6.69873354e+00] [-2.54834239e-03 9.99995814e-01 -1.37017231e-03 -4.25191888e-01] [ 7.82766225e-03 1.39008239e-03 9.99968397e-01 -2.04436358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12719347 meters Centerline goodness [0,1] 0.7927695151667927 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.42, Z:-2.04 [[ 9.99948307e-01 6.07306187e-03 -8.15488226e-03 6.69946609e+00] [-6.06375858e-03 9.99980937e-01 1.16506523e-03 -4.21095073e-01] [ 8.16180231e-03 -1.11555577e-03 9.99966070e-01 -2.04435823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15719347 meters Centerline goodness [0,1] 0.8301771533292608 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.42, Z:-2.04 [[ 9.99916605e-01 1.00747397e-02 -8.07982279e-03 6.69909928e+00] [-1.00450765e-02 9.99942689e-01 3.70349498e-03 -4.15788722e-01] [ 8.11667148e-03 -3.62202369e-03 9.99960500e-01 -2.04376137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18719347 meters Centerline goodness [0,1] 0.9013063329669401 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.41, Z:-2.04 [[ 0.99982304 0.01710237 -0.00783556 6.69787889] [-0.01702687 0.99980892 0.00960258 -0.41070402] [ 0.00799829 -0.00946746 0.99992319 -2.04239656] [ 0. 0. 0. 1. ]] SLAMing on 162.21719347 meters Centerline goodness [0,1] 0.9003273459795199 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.40, Z:-2.04 [[ 9.99454910e-01 3.28506676e-02 -3.27366387e-03 6.70226909e+00] [-3.28208551e-02 9.99422698e-01 8.77855083e-03 -3.97456159e-01] [ 3.56015523e-03 -8.66632128e-03 9.99956109e-01 -2.04317769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24719346999998 meters Centerline goodness [0,1] 0.8983965137925198 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.39, Z:-2.04 [[ 9.99308195e-01 3.70585418e-02 -3.12992099e-03 6.70176579e+00] [-3.70198918e-02 9.99247018e-01 1.16156661e-02 -3.92836815e-01] [ 3.55802387e-03 -1.14917610e-02 9.99927637e-01 -2.04227150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27719347 meters Centerline goodness [0,1] 0.9007011798295336 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.39, Z:-2.04 [[ 9.99150672e-01 4.10962796e-02 -3.00512020e-03 6.70131911e+00] [-4.10470950e-02 9.99045822e-01 1.49191521e-02 -3.90448682e-01] [ 3.61537443e-03 -1.47831294e-02 9.99884187e-01 -2.04146770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30719347 meters Centerline goodness [0,1] 0.9023536359034925 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.39, Z:-2.04 [[ 9.98974840e-01 4.51941877e-02 -2.59898756e-03 6.70065083e+00] [-4.51402690e-02 9.98818401e-01 1.80044086e-02 -3.87681809e-01] [ 3.40961122e-03 -1.78686322e-02 9.99834530e-01 -2.04102648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33719347 meters Centerline goodness [0,1] 0.9022864221377732 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.39, Z:-2.04 [[ 9.98985266e-01 4.49465813e-02 -2.87112423e-03 6.70153506e+00] [-4.48903373e-02 9.98841723e-01 1.73225466e-02 -3.85722447e-01] [ 3.64638792e-03 -1.71760831e-02 9.99845831e-01 -2.04149288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36719347 meters Centerline goodness [0,1] 0.9040619200269951 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.38, Z:-2.04 [[ 9.98996558e-01 4.46673810e-02 -3.27133869e-03 6.70269935e+00] [-4.46062924e-02 9.98862872e-01 1.68297597e-02 -3.84324451e-01] [ 4.01936005e-03 -1.66669497e-02 9.99853018e-01 -2.04203250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39719347 meters Centerline goodness [0,1] 0.8999134820316951 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.38, Z:-2.04 [[ 9.98984787e-01 4.48772940e-02 -3.92741233e-03 6.70481608e+00] [-4.48041512e-02 9.98850027e-01 1.70648954e-02 -3.84823289e-01] [ 4.68872224e-03 -1.68716065e-02 9.99846671e-01 -2.04321158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42719347 meters Centerline goodness [0,1] 0.9005643985033928 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.38, Z:-2.04 [[ 9.99114296e-01 4.18312609e-02 -4.55741271e-03 6.70603781e+00] [-4.17666128e-02 9.99036717e-01 1.34606225e-02 -3.84605976e-01] [ 5.11609744e-03 -1.32583527e-02 9.99899016e-01 -2.04363751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45719347 meters Centerline goodness [0,1] 0.9000634517766497 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.39, Z:-2.04 [[ 9.99219349e-01 3.91657017e-02 -5.17117579e-03 6.70736435e+00] [-3.91109373e-02 9.99181811e-01 1.02977458e-02 -3.85097749e-01] [ 5.57026322e-03 -1.00874573e-02 9.99933605e-01 -2.04417380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48719347 meters Centerline goodness [0,1] 0.8981596382374593 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.39, Z:-2.05 [[ 9.99195656e-01 3.97148922e-02 -5.54687363e-03 6.70871441e+00] [-3.96511006e-02 9.99151124e-01 1.11723599e-02 -3.87796267e-01] [ 5.98587409e-03 -1.09434338e-02 9.99922202e-01 -2.04501899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51719347 meters Centerline goodness [0,1] 0.8997756803656833 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.39, Z:-2.05 [[ 9.99287676e-01 3.72799584e-02 -5.86050564e-03 6.70925492e+00] [-3.72308992e-02 9.99272481e-01 8.26852888e-03 -3.88459107e-01] [ 6.16449243e-03 -8.04444711e-03 9.99948642e-01 -2.04515373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54719347 meters Centerline goodness [0,1] 0.8980942743907581 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.39, Z:-2.05 [[ 9.99378510e-01 3.46971124e-02 -6.22125674e-03 6.70987218e+00] [-3.46647814e-02 9.99385303e-01 5.23150657e-03 -3.88653979e-01] [ 6.39895073e-03 -5.01259673e-03 9.99966963e-01 -2.04524492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57719347 meters Centerline goodness [0,1] 0.8994903677387976 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.39, Z:-2.04 [[ 9.99466367e-01 3.20475735e-02 -6.31931278e-03 6.70930820e+00] [-3.20264587e-02 9.99481188e-01 3.41468742e-03 -3.93551006e-01] [ 6.42546669e-03 -3.21048002e-03 9.99974203e-01 -2.04448132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60719347 meters Centerline goodness [0,1] 0.8989795061313623 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.40, Z:-2.04 [[ 9.99553689e-01 2.91209665e-02 -6.66267798e-03 6.70990309e+00] [-2.91145790e-02 9.99575525e-01 1.05370358e-03 -3.97123395e-01] [ 6.69053471e-03 -8.59252232e-04 9.99977249e-01 -2.04459350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63719347 meters Centerline goodness [0,1] 0.8984241142252776 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.40, Z:-2.04 [[ 9.99643931e-01 2.57766534e-02 -6.89750746e-03 6.71014941e+00] [-2.57881506e-02 9.99666177e-01 -1.58313504e-03 -4.01499327e-01] [ 6.85439699e-03 1.76044530e-03 9.99974959e-01 -2.04465188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66719347 meters Centerline goodness [0,1] 0.8981678648984841 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.41, Z:-2.05 [[ 9.99713116e-01 2.28165499e-02 -7.28633966e-03 6.71140435e+00] [-2.28436500e-02 9.99732358e-01 -3.65797900e-03 -4.07115622e-01] [ 7.20092706e-03 3.82337618e-03 9.99966764e-01 -2.04558249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69719347 meters Centerline goodness [0,1] 0.8947590692174501 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.42, Z:-2.05 [[ 0.99982359 0.01716837 -0.00761796 6.71227761] [-0.01722533 0.99982369 -0.00747447 -0.41808371] [ 0.0074883 0.00760437 0.99994305 -2.04631697] [ 0. 0. 0. 1. ]] SLAMing on 162.72719347 meters Centerline goodness [0,1] 0.8923296707914032 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.42, Z:-2.05 [[ 9.99924270e-01 1.12214506e-02 -5.05305215e-03 6.72069621e+00] [-1.12306287e-02 9.99935329e-01 -1.79164827e-03 -4.23497609e-01] [ 5.03262048e-03 1.84826154e-03 9.99985628e-01 -2.04641765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75719347 meters Centerline goodness [0,1] 0.8876068556028129 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.43, Z:-2.05 [[ 9.99959047e-01 7.41217087e-03 -5.19272620e-03 6.72094262e+00] [-7.43685712e-03 9.99961060e-01 -4.75093662e-03 -4.26707927e-01] [ 5.15730924e-03 4.78935961e-03 9.99975232e-01 -2.04637844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78719347 meters Centerline goodness [0,1] 0.8830191066683538 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.43, Z:-2.05 [[ 9.99976136e-01 4.01828959e-03 -5.61975560e-03 6.72224934e+00] [-4.05926373e-03 9.99965124e-01 -7.29878840e-03 -4.30131621e-01] [ 5.59023096e-03 7.32142629e-03 9.99957572e-01 -2.04700813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81719347 meters Centerline goodness [0,1] 0.8799534292972058 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.44, Z:-2.05 [[ 9.99977677e-01 -2.81988167e-03 -6.05757804e-03 6.72327217e+00] [ 2.74537518e-03 9.99920915e-01 -1.22730186e-02 -4.38487035e-01] [ 6.09170743e-03 1.22561143e-02 9.99906335e-01 -2.04719164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84719347 meters Centerline goodness [0,1] 0.877619499841722 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.44, Z:-2.05 [[ 9.99961174e-01 -6.23683646e-03 -6.22508132e-03 6.72333229e+00] [ 6.14399990e-03 9.99871262e-01 -1.48226488e-02 -4.43312425e-01] [ 6.31672635e-03 1.47838265e-02 9.99870760e-01 -2.04670308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87719347 meters Centerline goodness [0,1] 0.877619499841722 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.44, Z:-2.05 [[ 9.99961174e-01 -6.23683646e-03 -6.22508132e-03 6.72333229e+00] [ 6.14399990e-03 9.99871262e-01 -1.48226488e-02 -4.43312425e-01] [ 6.31672635e-03 1.47838265e-02 9.99870760e-01 -2.04670308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90719347 meters Centerline goodness [0,1] 0.8753834112495504 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.45, Z:-2.05 [[ 9.99937788e-01 -9.28224947e-03 -6.18546702e-03 6.72243627e+00] [ 9.17540562e-03 9.99811966e-01 -1.70834788e-02 -4.48179797e-01] [ 6.34287705e-03 1.70256619e-02 9.99834934e-01 -2.04548390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93719347 meters Centerline goodness [0,1] 0.8733529324675874 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.45, Z:-2.04 [[ 9.99908407e-01 -1.22050551e-02 -5.84925262e-03 6.72044009e+00] [ 1.20937409e-02 9.99751952e-01 -1.87022994e-02 -4.54386488e-01] [ 6.07606432e-03 1.86298471e-02 9.99807987e-01 -2.04330142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96719347 meters Centerline goodness [0,1] 0.8747410695413231 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.46, Z:-2.04 [[ 9.99946393e-01 -8.48987831e-03 -5.92729187e-03 6.72013328e+00] [ 8.40683806e-03 9.99868092e-01 -1.38969088e-02 -4.57308976e-01] [ 6.04449308e-03 1.38463341e-02 9.99885865e-01 -2.04245110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99719346999998 meters Centerline goodness [0,1] 0.8588400747255516 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.46, Z:-2.04 [[ 9.99969301e-01 -7.81576036e-03 -5.58518562e-04 6.72857117e+00] [ 7.81436067e-03 9.99966427e-01 -2.46578616e-03 -4.60979064e-01] [ 5.77771805e-04 2.46134600e-03 9.99996804e-01 -2.04361376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02719347 meters Centerline goodness [0,1] 0.8708289390423961 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.46, Z:-2.04 [[ 9.99970497e-01 -7.65528469e-03 -6.33846192e-04 6.72815514e+00] [ 7.65407755e-03 9.99968930e-01 -1.88547842e-03 -4.62345182e-01] [ 6.48260372e-04 1.88057128e-03 9.99998022e-01 -2.04274000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05719347 meters Centerline goodness [0,1] 0.8739570351281131 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.47, Z:-2.04 [[ 9.99938445e-01 -1.10795386e-02 -5.92460901e-04 6.72721783e+00] [ 1.10766715e-02 9.99927880e-01 -4.64142660e-03 -4.65548229e-01] [ 6.43843037e-04 4.63457840e-03 9.99989053e-01 -2.04130125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08719347 meters Centerline goodness [0,1] 0.8593628430238671 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.47, Z:-2.04 [[ 9.99932099e-01 -1.16206353e-02 -8.70424651e-04 6.72823058e+00] [ 1.16170255e-02 9.99924345e-01 -4.04339309e-03 -4.69171802e-01] [ 9.17345596e-04 4.03300680e-03 9.99991447e-01 -2.04177840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11719347 meters Centerline goodness [0,1] 0.8075484386163998 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.47, Z:-2.04 [[ 9.99920219e-01 -1.25836851e-02 -1.09811785e-03 6.72923650e+00] [ 1.25793694e-02 9.99913456e-01 -3.85221765e-03 -4.72219548e-01] [ 1.14649791e-03 3.83809669e-03 9.99991977e-01 -2.04229288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14719347 meters Centerline goodness [0,1] 0.80010959828015 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.47, Z:-2.05 [[ 9.99867716e-01 -1.61809756e-02 -1.65137563e-03 6.73303491e+00] [ 1.61695235e-02 9.99846633e-01 -6.72740359e-03 -4.72133568e-01] [ 1.75997832e-03 6.69981170e-03 9.99976007e-01 -2.04561476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17719347 meters Centerline goodness [0,1] 0.7799142138736873 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.47, Z:-2.05 [[ 9.99891560e-01 -1.45566153e-02 -2.22987352e-03 6.73583344e+00] [ 1.45463519e-02 9.99883836e-01 -4.55177679e-03 -4.71201306e-01] [ 2.29587295e-03 4.51884668e-03 9.99987154e-01 -2.04763925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20719347 meters Centerline goodness [0,1] 0.778223423119142 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.47, Z:-2.05 [[ 9.99931926e-01 -1.13798059e-02 -2.57761901e-03 6.73695414e+00] [ 1.13773972e-02 9.99934827e-01 -9.47188102e-04 -4.70588461e-01] [ 2.58822983e-03 9.17797028e-04 9.99996229e-01 -2.04819913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23719347 meters Centerline goodness [0,1] 0.7767604144639458 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.47, Z:-2.05 [[ 9.99964505e-01 -7.94179551e-03 -2.81377741e-03 6.73747927e+00] [ 7.94961250e-03 9.99964543e-01 2.77790687e-03 -4.70530035e-01] [ 2.79161607e-03 -2.80017671e-03 9.99992183e-01 -2.04819624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26719347 meters Centerline goodness [0,1] 0.7793771043771044 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.47, Z:-2.05 [[ 9.99963694e-01 -7.91112440e-03 -3.16633065e-03 6.73849150e+00] [ 7.91820585e-03 9.99966163e-01 2.23023255e-03 -4.68379414e-01] [ 3.14857986e-03 -2.25522324e-03 9.99992500e-01 -2.04856397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29719347 meters Centerline goodness [0,1] 0.793604835471395 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.46, Z:-2.05 [[ 9.99977688e-01 -5.98670739e-03 -2.96354371e-03 6.73716633e+00] [ 5.99666975e-03 9.99976361e-01 3.36424414e-03 -4.63458313e-01] [ 2.94333291e-03 -3.38194047e-03 9.99989950e-01 -2.04729085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32719347 meters Centerline goodness [0,1] 0.8126684636118598 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.46, Z:-2.05 [[ 9.99975985e-01 -6.21181893e-03 -3.07303318e-03 6.73720283e+00] [ 6.21851315e-03 9.99978302e-01 2.17363745e-03 -4.58599789e-01] [ 3.05946426e-03 -2.19269494e-03 9.99992916e-01 -2.04682021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35719347 meters Centerline goodness [0,1] 0.8262250931049719 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.45, Z:-2.05 [[ 9.99989290e-01 -3.44865333e-03 -3.08663563e-03 6.73677678e+00] [ 3.46214419e-03 9.99984431e-01 4.37611496e-03 -4.54654902e-01] [ 3.07149587e-03 -4.38675447e-03 9.99985661e-01 -2.04602914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38719347 meters Centerline goodness [0,1] 0.8345790260437501 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.45, Z:-2.05 [[ 9.99990463e-01 -3.19894754e-03 -2.97338116e-03 6.73649489e+00] [ 3.20863787e-03 9.99989538e-01 3.25999008e-03 -4.48870146e-01] [ 2.96292152e-03 -3.26949949e-03 9.99990266e-01 -2.04569518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41719347 meters Centerline goodness [0,1] 0.8227246061012403 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.44, Z:-2.05 [[ 9.99994742e-01 -9.89094531e-05 -3.24120063e-03 6.73765220e+00] [ 1.16310456e-04 9.99985580e-01 5.36894182e-03 -4.44036620e-01] [ 3.24062285e-03 -5.36929057e-03 9.99980334e-01 -2.04634541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44719347 meters Centerline goodness [0,1] 0.8674860522672931 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.43, Z:-2.05 [[ 9.99966017e-01 7.47171578e-03 -3.48406130e-03 6.73857204e+00] [-7.43511417e-03 9.99918249e-01 1.04026457e-02 -4.32829771e-01] [ 3.56150208e-03 -1.03763878e-02 9.99939821e-01 -2.04667992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47719347 meters Centerline goodness [0,1] 0.87235572854967 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.43, Z:-2.05 [[ 9.99933781e-01 1.09130079e-02 -3.65226453e-03 6.73940322e+00] [-1.08663924e-02 9.99862215e-01 1.25487673e-02 -4.27204251e-01] [ 3.78870611e-03 -1.25082494e-02 9.99914591e-01 -2.04713158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50719347 meters Centerline goodness [0,1] 0.8734810126582279 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.42, Z:-2.05 [[ 9.99891047e-01 1.42250956e-02 -3.94216613e-03 6.74070582e+00] [-1.41655341e-02 9.99790926e-01 1.47459139e-02 -4.22238790e-01] [ 4.15110396e-03 -1.46884644e-02 9.99883502e-01 -2.04789163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53719347 meters Centerline goodness [0,1] 0.8736835426976273 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.41, Z:-2.05 [[ 9.99829620e-01 1.80120189e-02 -4.03721885e-03 6.74147397e+00] [-1.79428126e-02 9.99701725e-01 1.65685502e-02 -4.14935123e-01] [ 4.33444769e-03 -1.64932882e-02 9.99854581e-01 -2.04838596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56719347 meters Centerline goodness [0,1] 0.8723327688399661 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.41, Z:-2.05 [[ 9.99828321e-01 1.80054452e-02 -4.37401834e-03 6.74240554e+00] [-1.79354829e-02 9.99718379e-01 1.55396582e-02 -4.11207814e-01] [ 4.65258499e-03 -1.54585403e-02 9.99869685e-01 -2.04863278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59719347 meters Centerline goodness [0,1] 0.869784521874934 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.41, Z:-2.05 [[ 9.99830020e-01 1.78244376e-02 -4.71384680e-03 6.74350580e+00] [-1.77537843e-02 9.99735377e-01 1.46280237e-02 -4.08182545e-01] [ 4.97333570e-03 -1.45418486e-02 9.99881893e-01 -2.04914122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62719347 meters Centerline goodness [0,1] 0.8702560320303445 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.41, Z:-2.05 [[ 9.99837473e-01 1.73464617e-02 -4.91208611e-03 6.74439854e+00] [-1.72778198e-02 9.99757032e-01 1.36877349e-02 -4.05486886e-01] [ 5.14832639e-03 -1.36006401e-02 9.99894253e-01 -2.04972436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65719347 meters Centerline goodness [0,1] 0.8716216216216216 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.40, Z:-2.05 [[ 9.99855453e-01 1.63046472e-02 -4.81999792e-03 6.74403332e+00] [-1.62434815e-02 9.99790329e-01 1.24678653e-02 -4.02585622e-01] [ 5.02227145e-03 -1.23877696e-02 9.99910656e-01 -2.04928927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68719347 meters Centerline goodness [0,1] 0.872721498888536 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.40, Z:-2.05 [[ 9.99911791e-01 1.23179086e-02 -4.96785056e-03 6.74432650e+00] [-1.22780330e-02 9.99892788e-01 7.97890587e-03 -4.00685357e-01] [ 5.06560137e-03 -7.91720662e-03 9.99955828e-01 -2.04923111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71719347 meters Centerline goodness [0,1] 0.8739675095591186 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99950142e-01 8.51328262e-03 -5.21895514e-03 6.74503321e+00] [-8.49373224e-03 9.99956870e-01 3.75682257e-03 -3.99775573e-01] [ 5.25071294e-03 -3.71230685e-03 9.99979324e-01 -2.04946083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74719346999998 meters Centerline goodness [0,1] 0.8747277379517435 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99974103e-01 4.92778677e-03 -5.24492678e-03 6.74541012e+00] [-4.92930777e-03 9.99987812e-01 -2.77106731e-04 -3.99053797e-01] [ 5.24349734e-03 3.02953413e-04 9.99986207e-01 -2.04975554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77719347 meters Centerline goodness [0,1] 0.8755820568466741 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99962980e-01 6.55902832e-03 -5.56936669e-03 6.74818773e+00] [-6.55236672e-03 9.99977797e-01 1.21351930e-03 -4.00736624e-01] [ 5.57720254e-03 -1.17698185e-03 9.99983755e-01 -2.05239925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80719347 meters Centerline goodness [0,1] 0.8758989411888038 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99959353e-01 6.94226383e-03 -5.75295931e-03 6.74907293e+00] [-6.93506262e-03 9.99975145e-01 1.27074576e-03 -4.00176447e-01] [ 5.76163817e-03 -1.23079698e-03 9.99982644e-01 -2.05296413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83719347 meters Centerline goodness [0,1] 0.8773897097569715 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99956412e-01 7.35574607e-03 -5.75048137e-03 6.74910281e+00] [-7.34693158e-03 9.99971806e-01 1.55245109e-03 -4.00267217e-01] [ 5.76173867e-03 -1.51013502e-03 9.99982261e-01 -2.05284356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86719347 meters Centerline goodness [0,1] 0.877497460209956 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99951044e-01 8.30173130e-03 -5.38436566e-03 6.74774525e+00] [-8.28900086e-03 9.99962808e-01 2.38235664e-03 -4.01306520e-01] [ 5.40394308e-03 -2.33760900e-03 9.99982666e-01 -2.05157176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89719347 meters Centerline goodness [0,1] 0.8785942492012779 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99948050e-01 8.53815877e-03 -5.56755571e-03 6.74838250e+00] [-8.52391934e-03 9.99960352e-01 2.57630694e-03 -4.01721442e-01] [ 5.58933188e-03 -2.52871570e-03 9.99981182e-01 -2.05175448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92719347 meters Centerline goodness [0,1] 0.8778536175574924 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99943695e-01 8.87372738e-03 -5.81919501e-03 6.74942927e+00] [-8.85675598e-03 9.99956469e-01 2.93576455e-03 -4.02722894e-01] [ 5.84499286e-03 -2.88406006e-03 9.99978759e-01 -2.05240784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95719347 meters Centerline goodness [0,1] 0.8771461595040454 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-2.05 [[ 9.99937899e-01 9.36961057e-03 -6.03394028e-03 6.75051066e+00] [-9.34835864e-03 9.99950035e-01 3.54069053e-03 -4.04527521e-01] [ 6.06681369e-03 -3.48406322e-03 9.99975527e-01 -2.05320742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98719347 meters Centerline goodness [0,1] 0.8788802132927062 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.41, Z:-2.05 [[ 9.99933171e-01 9.84945065e-03 -6.05323291e-03 6.75084476e+00] [-9.82361089e-03 9.99942571e-01 4.28376282e-03 -4.07063312e-01] [ 6.09507799e-03 -4.22401194e-03 9.99972503e-01 -2.05353002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01719347 meters Centerline goodness [0,1] 0.8819892871509326 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.41, Z:-2.05 [[ 9.99956935e-01 7.48515605e-03 -5.48637092e-03 6.75002765e+00] [-7.47477363e-03 9.99970238e-01 1.91047138e-03 -4.10120874e-01] [ 5.50050781e-03 -1.86937973e-03 9.99983125e-01 -2.05359680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04719347 meters Centerline goodness [0,1] 0.8824275477202106 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.41, Z:-2.05 [[ 9.99971591e-01 4.94596684e-03 -5.68805511e-03 6.75127334e+00] [-4.95030216e-03 9.99987467e-01 -7.48354316e-04 -4.10885050e-01] [ 5.68428249e-03 7.76490647e-04 9.99983543e-01 -2.05447311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07719347 meters Centerline goodness [0,1] 0.8814924426593383 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.41, Z:-2.05 [[ 9.99969385e-01 5.33029926e-03 -5.72866021e-03 6.75156272e+00] [-5.32883349e-03 9.99985765e-01 2.71100505e-04 -4.14151078e-01] [ 5.73002371e-03 -2.40565129e-04 9.99983554e-01 -2.05461453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10719347 meters Centerline goodness [0,1] 0.884111833769744 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.42, Z:-2.06 [[ 9.99977441e-01 3.31161950e-03 -5.84391810e-03 6.75254778e+00] [-3.32121090e-03 9.99993153e-01 -1.63232184e-03 -4.17105395e-01] [ 5.83847246e-03 1.65169390e-03 9.99981592e-01 -2.05540999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13719347 meters Centerline goodness [0,1] 0.8829384787708434 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.43, Z:-2.06 [[ 9.99980643e-01 2.45164027e-03 -5.71861095e-03 6.75310722e+00] [-2.45817560e-03 9.99996333e-01 -1.13606967e-03 -4.27611725e-01] [ 5.71580475e-03 1.15010503e-03 9.99983003e-01 -2.05630070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16719347 meters Centerline goodness [0,1] 0.8843199085733635 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.43, Z:-2.06 [[ 9.99980246e-01 2.51863253e-03 -5.75879583e-03 6.75381490e+00] [-2.51875321e-03 9.99996828e-01 -1.37027108e-05 -4.33087188e-01] [ 5.75874305e-03 2.82074256e-05 9.99983418e-01 -2.05703183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19719347 meters Centerline goodness [0,1] 0.8825587522394351 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.44, Z:-2.06 [[ 9.99979975e-01 7.67886390e-04 -6.28170652e-03 6.75650938e+00] [-7.73700725e-04 9.99999275e-01 -9.23220305e-04 -4.37634207e-01] [ 6.28099304e-03 9.28061978e-04 9.99979844e-01 -2.05909496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22719347 meters Centerline goodness [0,1] 0.8784623842347866 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.44, Z:-2.06 [[ 9.99979971e-01 4.53239533e-04 -6.31280073e-03 6.75685422e+00] [-4.52576040e-04 9.99999892e-01 1.06530951e-04 -4.43461493e-01] [ 6.31284834e-03 -1.03671795e-04 9.99980068e-01 -2.05933158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25719347 meters Centerline goodness [0,1] 0.8784027894471518 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.46, Z:-2.06 [[ 9.99978095e-01 -6.61740735e-03 -1.36805306e-04 6.76634939e+00] [ 6.61790172e-03 9.99970100e-01 4.00034661e-03 -4.55989957e-01] [ 1.10329292e-04 -4.00116434e-03 9.99991989e-01 -2.06169962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28719347 meters Centerline goodness [0,1] 0.8750974484313436 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.46, Z:-2.06 [[ 9.99948061e-01 -1.01900713e-02 -1.94419569e-04 6.76653326e+00] [ 1.01903920e-02 9.99946586e-01 1.72664826e-03 -4.61554179e-01] [ 1.76814515e-04 -1.72853979e-03 9.99998490e-01 -2.06154431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31719347 meters Centerline goodness [0,1] 0.8787750613315286 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.47, Z:-2.06 [[ 9.99903337e-01 -1.39002249e-02 -3.18114499e-04 6.76687944e+00] [ 1.39000000e-02 9.99903146e-01 -6.98421546e-04 -4.66938964e-01] [ 3.27791905e-04 6.93932242e-04 9.99999706e-01 -2.06144590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34719347 meters Centerline goodness [0,1] 0.8811914677716001 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.47, Z:-2.06 [[ 9.99771811e-01 -2.13560362e-02 -4.96532077e-04 6.76893122e+00] [ 2.13526344e-02 9.99753601e-01 -6.06649331e-03 -4.74793376e-01] [ 6.25965983e-04 6.05450673e-03 9.99981475e-01 -2.06326950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37719347 meters Centerline goodness [0,1] 0.882062488181035 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.48, Z:-2.07 [[ 9.99707126e-01 -2.41839156e-02 -8.94205679e-04 6.77177053e+00] [ 2.41758522e-02 9.99674617e-01 -8.13556585e-03 -4.77544705e-01] [ 1.09066456e-03 8.11156498e-03 9.99966506e-01 -2.06568243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40719347 meters Centerline goodness [0,1] 0.8747388193579705 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.48, Z:-2.07 [[ 9.99691055e-01 -2.48255845e-02 -1.21879742e-03 6.77332657e+00] [ 2.48155108e-02 9.99662534e-01 -7.68174208e-03 -4.80323946e-01] [ 1.40908986e-03 7.64912376e-03 9.99969752e-01 -2.06683250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43719347 meters Centerline goodness [0,1] 0.865370090634441 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.48, Z:-2.07 [[ 9.99675720e-01 -2.54212772e-02 -1.48784433e-03 6.77445851e+00] [ 2.54097066e-02 9.99650189e-01 -7.33801545e-03 -4.82569019e-01] [ 1.67386559e-03 7.29783019e-03 9.99971970e-01 -2.06749857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46719347 meters Centerline goodness [0,1] 0.8452825439442883 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.49, Z:-2.07 [[ 9.99635809e-01 -2.69524950e-02 -1.34654745e-03 6.77459670e+00] [ 2.69415172e-02 9.99608151e-01 -7.59596819e-03 -4.85066133e-01] [ 1.55075011e-03 7.55692377e-03 9.99970244e-01 -2.06749606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49719346999998 meters Centerline goodness [0,1] 0.842855335835055 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.49, Z:-2.07 [[ 9.99622291e-01 -2.74365984e-02 -1.58405947e-03 6.77527294e+00] [ 2.74234906e-02 9.99593661e-01 -7.77587579e-03 -4.85124752e-01] [ 1.79675939e-03 7.72949833e-03 9.99968513e-01 -2.06769552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52719347 meters Centerline goodness [0,1] 0.8323705537569563 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.49, Z:-2.07 [[ 9.99612489e-01 -2.77763846e-02 -1.82862859e-03 6.77586582e+00] [ 2.77611268e-02 9.99583380e-01 -7.89848554e-03 -4.85161353e-01] [ 2.04725812e-03 7.84466000e-03 9.99967134e-01 -2.06780218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55719347 meters Centerline goodness [0,1] 0.8247057334514618 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.48, Z:-2.07 [[ 9.99604091e-01 -2.80617830e-02 -2.04859521e-03 6.77661167e+00] [ 2.80442819e-02 9.99573677e-01 -8.12295232e-03 -4.84829268e-01] [ 2.27566637e-03 8.06228499e-03 9.99964910e-01 -2.06809222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58719347 meters Centerline goodness [0,1] 0.7970329415240467 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.48, Z:-2.07 [[ 9.99681059e-01 -2.51907049e-02 -1.79153877e-03 6.77612644e+00] [ 2.51813746e-02 9.99670130e-01 -5.05265026e-03 -4.83638878e-01] [ 1.91822762e-03 5.00592535e-03 9.99985630e-01 -2.06796758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61719347 meters Centerline goodness [0,1] 0.8363594237088213 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.48, Z:-2.07 [[ 9.99762024e-01 -2.17363493e-02 -1.85108455e-03 6.77630024e+00] [ 2.17333112e-02 9.99762449e-01 -1.64584074e-03 -4.82014262e-01] [ 1.88641939e-03 1.60521887e-03 9.99996932e-01 -2.06804847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64719347 meters Centerline goodness [0,1] 0.8099454035709016 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.48, Z:-2.07 [[ 9.99835182e-01 -1.80491273e-02 -1.95884865e-03 6.77614712e+00] [ 1.80524347e-02 9.99835623e-01 1.68405965e-03 -4.79456334e-01] [ 1.92813086e-03 -1.71914408e-03 9.99996663e-01 -2.06766894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67719347 meters Centerline goodness [0,1] 0.8526448627615943 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.48, Z:-2.07 [[ 9.99889171e-01 -1.47252689e-02 -2.19388057e-03 6.77646994e+00] [ 1.47347247e-02 9.99881940e-01 4.35815949e-03 -4.75563494e-01] [ 2.12944649e-03 -4.39000270e-03 9.99988097e-01 -2.06753338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70719347 meters Centerline goodness [0,1] 0.8651276331572634 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.47, Z:-2.07 [[ 9.99932823e-01 -1.13574364e-02 -2.31471590e-03 6.77623147e+00] [ 1.13732011e-02 9.99911411e-01 6.91524866e-03 -4.71217474e-01] [ 2.23597134e-03 -6.94110985e-03 9.99973410e-01 -2.06693007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73719347 meters Centerline goodness [0,1] 0.8769588173178459 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.46, Z:-2.07 [[ 9.99997787e-01 -1.45808349e-03 -1.51650306e-03 6.77511086e+00] [ 1.45635542e-03 9.99998290e-01 -1.13998896e-03 -4.61853157e-01] [ 1.51816267e-03 1.13777787e-03 9.99998200e-01 -2.06630571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76719347 meters Centerline goodness [0,1] 0.8769588173178459 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.46, Z:-2.07 [[ 9.99997787e-01 -1.45808349e-03 -1.51650306e-03 6.77511086e+00] [ 1.45635542e-03 9.99998290e-01 -1.13998896e-03 -4.61853157e-01] [ 1.51816267e-03 1.13777787e-03 9.99998200e-01 -2.06630571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79719347 meters Centerline goodness [0,1] 0.878709731969223 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.46, Z:-2.07 [[ 9.99997948e-01 -5.71435587e-04 -1.94379254e-03 6.77660518e+00] [ 5.68755005e-04 9.99998887e-01 -1.37932086e-03 -4.58257600e-01] [ 1.94457857e-03 1.37821248e-03 9.99997160e-01 -2.06724436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82719347 meters Centerline goodness [0,1] 0.8829272398266212 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.46, Z:-2.07 [[ 9.99994642e-01 1.92828825e-03 -2.64530338e-03 6.77963426e+00] [-1.92686518e-03 9.99997998e-01 5.40404304e-04 -4.55233123e-01] [ 2.64634014e-03 -5.35304266e-04 9.99996355e-01 -2.06940544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85719347 meters Centerline goodness [0,1] 0.8764850124719908 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.45, Z:-2.07 [[ 9.99993728e-01 2.11903841e-03 -2.83801834e-03 6.78042647e+00] [-2.12031985e-03 9.99997652e-01 -4.48591722e-04 -4.50619122e-01] [ 2.83706109e-03 4.54606415e-04 9.99995872e-01 -2.06997142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88719347 meters Centerline goodness [0,1] 0.8799613388523523 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.45, Z:-2.07 [[ 9.99960666e-01 8.13055093e-03 -3.54409008e-03 6.78344979e+00] [-8.11383663e-03 9.99956012e-01 4.70524543e-03 -4.45196744e-01] [ 3.58219042e-03 -4.67630419e-03 9.99982650e-01 -2.07207604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91719347 meters Centerline goodness [0,1] 0.8795620437956204 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.44, Z:-2.07 [[ 9.99959697e-01 8.11314492e-03 -3.84469609e-03 6.78459878e+00] [-8.09844941e-03 9.99959901e-01 3.82255725e-03 -4.41588785e-01] [ 3.87555488e-03 -3.79126711e-03 9.99985303e-01 -2.07285644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94719347 meters Centerline goodness [0,1] 0.8837864547194012 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.44, Z:-2.07 [[ 9.99958947e-01 7.94208378e-03 -4.36213600e-03 6.78636430e+00] [-7.92985778e-03 9.99964602e-01 2.81293619e-03 -4.37753141e-01] [ 4.38432216e-03 -2.77822959e-03 9.99986529e-01 -2.07389503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97719347 meters Centerline goodness [0,1] 0.8845814977973568 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.43, Z:-2.08 [[ 9.99925830e-01 1.11670197e-02 -4.86120671e-03 6.78850528e+00] [-1.11429313e-02 9.99925642e-01 4.95443119e-03 -4.32395506e-01] [ 4.91617147e-03 -4.89989563e-03 9.99975911e-01 -2.07527595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00719347 meters Centerline goodness [0,1] 0.8848760365365997 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.43, Z:-2.08 [[ 9.99925116e-01 1.10819974e-02 -5.19157369e-03 6.78947723e+00] [-1.10601448e-02 9.99929933e-01 4.21921482e-03 -4.30218995e-01] [ 5.23796726e-03 -4.16147931e-03 9.99977623e-01 -2.07574253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03719347 meters Centerline goodness [0,1] 0.8846373018720585 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.43, Z:-2.08 [[ 9.99924153e-01 1.09773500e-02 -5.58436438e-03 6.79065693e+00] [-1.09571051e-02 9.99933333e-01 3.64304109e-03 -4.28922162e-01] [ 5.62398302e-03 -3.58157631e-03 9.99977771e-01 -2.07633688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06719347 meters Centerline goodness [0,1] 0.8853335023022009 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.43, Z:-2.08 [[ 9.99921228e-01 1.11069719e-02 -5.84580526e-03 6.79148989e+00] [-1.10873873e-02 9.99932847e-01 3.37200398e-03 -4.28342608e-01] [ 5.88286545e-03 -3.30692365e-03 9.99977228e-01 -2.07681745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09719347 meters Centerline goodness [0,1] 0.8886805965119218 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.42, Z:-2.08 [[ 9.99913523e-01 1.17790377e-02 -5.84822072e-03 6.79146967e+00] [-1.17637893e-02 9.99927332e-01 2.63495779e-03 -4.24909802e-01] [ 5.87883301e-03 -2.56593269e-03 9.99979427e-01 -2.07650782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12719347 meters Centerline goodness [0,1] 0.8881344495287097 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.42, Z:-2.08 [[ 9.99913112e-01 1.17275475e-02 -6.01946459e-03 6.79185689e+00] [-1.17154868e-02 9.99929301e-01 2.03498167e-03 -4.22704780e-01] [ 6.04290437e-03 -1.96428390e-03 9.99979812e-01 -2.07655499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15719347 meters Centerline goodness [0,1] 0.8902837852094103 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.42, Z:-2.08 [[ 9.99912110e-01 1.16837682e-02 -6.26587060e-03 6.79246235e+00] [-1.16731655e-02 9.99930377e-01 1.72603591e-03 -4.21663042e-01] [ 6.28560095e-03 -1.65274167e-03 9.99978880e-01 -2.07670359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18719347 meters Centerline goodness [0,1] 0.8905771248688352 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.42, Z:-2.08 [[ 9.99911687e-01 1.15958471e-02 -6.49270438e-03 6.79340272e+00] [-1.15848783e-02 9.99931406e-01 1.72447724e-03 -4.22068416e-01] [ 6.51225580e-03 -1.64910775e-03 9.99977435e-01 -2.07733114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21719347 meters Centerline goodness [0,1] 0.8896503732444857 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.42, Z:-2.08 [[ 9.99945428e-01 8.24605751e-03 -6.41425613e-03 6.79355322e+00] [-8.25480421e-03 9.99965033e-01 -1.33835665e-03 -4.24583333e-01] [ 6.40299568e-03 1.39123204e-03 9.99978533e-01 -2.07784328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24719346999998 meters Centerline goodness [0,1] 0.8899610239123564 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.43, Z:-2.08 [[ 9.99953311e-01 6.75160988e-03 -6.91316273e-03 6.79586405e+00] [-6.77013105e-03 9.99973547e-01 -2.65922895e-03 -4.25940947e-01] [ 6.89502577e-03 2.70590782e-03 9.99972568e-01 -2.07952361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27719347 meters Centerline goodness [0,1] 0.8899964175078499 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.43, Z:-2.08 [[ 9.99952107e-01 6.80119600e-03 -7.03764290e-03 6.79674069e+00] [-6.81717700e-03 9.99974233e-01 -2.24929796e-03 -4.27593654e-01] [ 7.02216365e-03 2.29716709e-03 9.99972706e-01 -2.08034946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30719347 meters Centerline goodness [0,1] 0.8932933227011374 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.43, Z:-2.08 [[ 9.99938439e-01 8.02323980e-03 -7.66463946e-03 6.79857444e+00] [-8.02678624e-03 9.99967691e-01 -4.32050956e-04 -4.31863795e-01] [ 7.66092538e-03 4.93546781e-04 9.99970533e-01 -2.08121493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33719347 meters Centerline goodness [0,1] 0.8965163505422267 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.44, Z:-2.08 [[ 9.99931927e-01 8.57389731e-03 -7.91383814e-03 6.79925184e+00] [-8.56976884e-03 9.99963125e-01 5.55441225e-04 -4.35312268e-01] [ 7.91830861e-03 -4.87583651e-04 9.99968531e-01 -2.08144222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36719347 meters Centerline goodness [0,1] 0.8956173619890434 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.44, Z:-2.08 [[ 9.99943431e-01 7.31322445e-03 -7.72344722e-03 6.79762760e+00] [-7.31888571e-03 9.99972968e-01 -7.04986559e-04 -4.38774525e-01] [ 7.71808271e-03 7.61473706e-04 9.99969925e-01 -2.07991583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39719347 meters Centerline goodness [0,1] 0.9011578947368422 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.44, Z:-2.08 [[ 9.99955616e-01 5.57926253e-03 -7.59194716e-03 6.79713226e+00] [-5.59834122e-03 9.99981219e-01 -2.49408982e-03 -4.41941933e-01] [ 7.57788939e-03 2.53648143e-03 9.99968070e-01 -2.07952637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42719347 meters Centerline goodness [0,1] 0.9017180977154965 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.45, Z:-2.08 [[ 9.99945585e-01 7.29244307e-03 -7.45968330e-03 6.79533257e+00] [-7.28637791e-03 9.99973101e-01 8.39914304e-04 -4.48684327e-01] [ 7.46560767e-03 -7.85514529e-04 9.99971823e-01 -2.07720048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45719347 meters Centerline goodness [0,1] 0.8979914098029308 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.45, Z:-2.08 [[ 9.99959058e-01 5.44909997e-03 -7.22421423e-03 6.79320795e+00] [-5.45324476e-03 9.99984977e-01 -5.54162242e-04 -4.50970493e-01] [ 7.22108602e-03 5.93534962e-04 9.99973751e-01 -2.07506355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48719347 meters Centerline goodness [0,1] 0.8984785383923153 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.46, Z:-2.08 [[ 9.99995141e-01 1.26856169e-03 -2.84758065e-03 6.80366509e+00] [-1.25253447e-03 9.99983406e-01 5.62310701e-03 -4.55905226e-01] [ 2.85466665e-03 -5.61951300e-03 9.99980136e-01 -2.07746177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51719347 meters Centerline goodness [0,1] 0.8961028035417586 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.46, Z:-2.08 [[ 9.99993457e-01 -1.88413309e-03 -3.08787993e-03 6.80428758e+00] [ 1.89382614e-03 9.99993280e-01 3.13915116e-03 -4.60193546e-01] [ 3.08194460e-03 -3.14497853e-03 9.99990305e-01 -2.07764891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54719347 meters Centerline goodness [0,1] 0.8959228371662034 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.47, Z:-2.08 [[ 9.99980674e-01 -5.16437222e-03 -3.46133949e-03 6.80652820e+00] [ 5.16956539e-03 9.99985523e-01 1.49307198e-03 -4.70012519e-01] [ 3.45357860e-03 -1.51093675e-03 9.99992895e-01 -2.07952862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57719347 meters Centerline goodness [0,1] 0.8965495449949444 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.47, Z:-2.08 [[ 9.99981619e-01 -4.79356626e-03 -3.71264340e-03 6.80748005e+00] [ 4.80439089e-03 9.99984218e-01 2.91220307e-03 -4.74637014e-01] [ 3.69862497e-03 -2.92998653e-03 9.99988868e-01 -2.08004575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60719347 meters Centerline goodness [0,1] 0.9001707024088007 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.48, Z:-2.08 [[ 9.99973825e-01 -6.04343386e-03 -3.97813759e-03 6.80852413e+00] [ 6.05383671e-03 9.99978274e-01 2.60817797e-03 -4.81837189e-01] [ 3.96228881e-03 -2.63219270e-03 9.99988686e-01 -2.08060973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63719347 meters Centerline goodness [0,1] 0.8995425125967154 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.49, Z:-2.08 [[ 9.99977946e-01 -5.30455922e-03 -3.99625226e-03 6.80859763e+00] [ 5.32019853e-03 9.99978191e-01 3.91308165e-03 -4.85116784e-01] [ 3.97540794e-03 -3.93425620e-03 9.99984359e-01 -2.08055417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66719347 meters Centerline goodness [0,1] 0.9024174714384902 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.49, Z:-2.08 [[ 9.99979697e-01 -4.80539622e-03 -4.18500062e-03 6.80954896e+00] [ 4.82545152e-03 9.99976860e-01 4.79534665e-03 -4.87704180e-01] [ 4.16186023e-03 -4.81544380e-03 9.99979745e-01 -2.08127144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69719347 meters Centerline goodness [0,1] 0.9056603773584906 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.49, Z:-2.08 [[ 9.99980881e-01 -4.35782600e-03 -4.38709592e-03 6.81042072e+00] [ 4.38259035e-03 9.99974429e-01 5.65111682e-03 -4.90279558e-01] [ 4.36235715e-03 -5.67023562e-03 9.99974409e-01 -2.08183977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72719347 meters Centerline goodness [0,1] 0.9069615724567532 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.50, Z:-2.08 [[ 9.99973333e-01 -5.70557553e-03 -4.55845151e-03 6.81100267e+00] [ 5.72809850e-03 9.99971376e-01 4.94324537e-03 -4.96603725e-01] [ 4.53011697e-03 -4.96922481e-03 9.99977392e-01 -2.08207859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75719347 meters Centerline goodness [0,1] 0.9098133198789102 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.50, Z:-2.08 [[ 9.99974341e-01 -5.47378695e-03 -4.62109786e-03 6.81100515e+00] [ 5.50145724e-03 9.99966887e-01 5.99649311e-03 -5.00723493e-01] [ 4.58812132e-03 -6.02176202e-03 9.99971343e-01 -2.08170940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78719347 meters Centerline goodness [0,1] 0.9093454233959426 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.50, Z:-2.08 [[ 9.99954708e-01 -8.32376121e-03 -4.61486481e-03 6.81047383e+00] [ 8.33950386e-03 9.99959437e-01 3.40260802e-03 -5.03697593e-01] [ 4.58635512e-03 -3.44093959e-03 9.99983563e-01 -2.08081192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81719347 meters Centerline goodness [0,1] 0.9095536331455143 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.51, Z:-2.08 [[ 9.99934638e-01 -1.05739242e-02 -4.34873537e-03 6.80871351e+00] [ 1.05811596e-02 9.99942666e-01 1.64418302e-03 -5.07673558e-01] [ 4.33110057e-03 -1.69009021e-03 9.99989193e-01 -2.07906277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84719347 meters Centerline goodness [0,1] 0.9063121532502879 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.52, Z:-2.08 [[ 9.99900129e-01 -1.34136201e-02 -4.45057514e-03 6.80945724e+00] [ 1.34178080e-02 9.99909561e-01 9.12441741e-04 -5.17744853e-01] [ 4.43793349e-03 -9.72067577e-04 9.99989680e-01 -2.07929429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87719347 meters Centerline goodness [0,1] 0.9056793432735801 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.52, Z:-2.08 [[ 9.99852195e-01 -1.65369288e-02 -4.70300821e-03 6.81083585e+00] [ 1.65309065e-02 9.99862488e-01 -1.31652400e-03 -5.22132405e-01] [ 4.72413276e-03 1.23858443e-03 9.99988074e-01 -2.08017077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90719347 meters Centerline goodness [0,1] 0.9055051854345036 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.53, Z:-2.08 [[ 9.99787878e-01 -2.00122118e-02 -4.86925605e-03 6.81182240e+00] [ 1.99926978e-02 9.99792029e-01 -4.02380296e-03 -5.25752149e-01] [ 4.94876858e-03 3.92559986e-03 9.99980049e-01 -2.08077999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93719347 meters Centerline goodness [0,1] 0.9035058360875204 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.53, Z:-2.08 [[ 9.99614775e-01 -2.73395742e-02 -4.77999192e-03 6.81257676e+00] [ 2.72928443e-02 9.99581552e-01 -9.58236002e-03 -5.32310850e-01] [ 5.03996939e-03 9.44820909e-03 9.99942663e-01 -2.08117331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96719347 meters Centerline goodness [0,1] 0.9065954695256768 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.54, Z:-2.08 [[ 9.99494747e-01 -3.13850194e-02 -5.02305771e-03 6.81374338e+00] [ 3.13184839e-02 9.99427266e-01 -1.28176852e-02 -5.35243026e-01] [ 5.42246414e-03 1.26538945e-02 9.99905233e-01 -2.08164675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99719346999998 meters Centerline goodness [0,1] 0.9025099734042553 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.08 [[ 9.99357871e-01 -3.54361095e-02 -5.30365067e-03 6.81515618e+00] [ 3.53461188e-02 9.99243897e-01 -1.61952795e-02 -5.37682896e-01] [ 5.87353826e-03 1.59974166e-02 9.99854782e-01 -2.08235296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02719347 meters Centerline goodness [0,1] 0.89547969516651 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.08 [[ 9.99200563e-01 -3.95902054e-02 -5.55441281e-03 6.81673850e+00] [ 3.94719775e-02 9.99020765e-01 -1.99868403e-02 -5.39102973e-01] [ 6.34025685e-03 1.97516184e-02 9.99784814e-01 -2.08334962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05719347 meters Centerline goodness [0,1] 0.8826565001263796 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.54, Z:-2.09 [[ 0.99897006 -0.04479723 -0.00721289 6.81462156] [ 0.04470303 0.9989192 -0.01273064 -0.54292662] [ 0.00777539 0.01239509 0.99989295 -2.08916132] [ 0. 0. 0. 1. ]] SLAMing on 166.08719347 meters Centerline goodness [0,1] 0.8906803237228124 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.09 [[ 0.99893908 -0.04540461 -0.00768937 6.81645174] [ 0.04530148 0.99888755 -0.01309353 -0.54272208] [ 0.00827532 0.0127313 0.99988471 -2.09031323] [ 0. 0. 0. 1. ]] SLAMing on 166.11719347 meters Centerline goodness [0,1] 0.8510624934575526 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.09 [[ 0.99891741 -0.04582706 -0.00799266 6.81748781] [ 0.04571776 0.99886506 -0.01335981 -0.54222186] [ 0.00859583 0.01297994 0.99987881 -2.09076123] [ 0. 0. 0. 1. ]] SLAMing on 166.14719347 meters Centerline goodness [0,1] 0.8073081299785055 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.09 [[ 0.99904277 -0.04295452 -0.00827339 6.81762592] [ 0.04287411 0.99903376 -0.00966231 -0.54360291] [ 0.00868043 0.00929834 0.99991909 -2.09023997] [ 0. 0. 0. 1. ]] SLAMing on 166.17719347 meters Centerline goodness [0,1] 0.8816043274069104 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.09 [[ 0.99911767 -0.04118276 -0.00823753 6.81627548] [ 0.04111539 0.99912087 -0.00818658 -0.54013257] [ 0.00856744 0.00784067 0.99993256 -2.08867626] [ 0. 0. 0. 1. ]] SLAMing on 166.20719347 meters Centerline goodness [0,1] 0.8969607740035755 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.09 [[ 9.99264377e-01 -3.73880730e-02 -8.53446749e-03 6.81598660e+00] [ 3.73503698e-02 9.99291940e-01 -4.53526023e-03 -5.38513657e-01] [ 8.69798922e-03 4.21315847e-03 9.99953296e-01 -2.08779269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23719347 meters Centerline goodness [0,1] 0.8997766728467892 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.54, Z:-2.09 [[ 9.99404089e-01 -3.33559184e-02 -8.87976803e-03 6.81575660e+00] [ 3.33492222e-02 9.99443354e-01 -9.01145685e-04 -5.36505614e-01] [ 8.90488368e-03 6.04475325e-04 9.99960168e-01 -2.08688675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26719347 meters Centerline goodness [0,1] 0.9029402532175369 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.53, Z:-2.09 [[ 9.99714492e-01 -2.28680441e-02 -6.92729335e-03 6.82359341e+00] [ 2.28482564e-02 9.99734673e-01 -2.92229173e-03 -5.30771504e-01] [ 6.99228245e-03 2.76318081e-03 9.99971736e-01 -2.08609801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29719347 meters Centerline goodness [0,1] 0.901850801453751 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.53, Z:-2.09 [[ 9.99799194e-01 -1.87293155e-02 -7.12626903e-03 6.82379597e+00] [ 1.87352459e-02 9.99824186e-01 7.66339824e-04 -5.28973674e-01] [ 7.11066311e-03 -8.99698341e-04 9.99974314e-01 -2.08609634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32719347 meters Centerline goodness [0,1] 0.9001864694420583 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.53, Z:-2.09 [[ 9.99857358e-01 -1.51639756e-02 -7.43763456e-03 6.82468628e+00] [ 1.51944387e-02 9.99876329e-01 4.05653848e-03 -5.27502866e-01] [ 7.37520149e-03 -4.16897052e-03 9.99964112e-01 -2.08659785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35719347 meters Centerline goodness [0,1] 0.9002317253001896 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.53, Z:-2.09 [[ 9.99882553e-01 -1.35677211e-02 -7.12716074e-03 6.82297931e+00] [ 1.36040679e-02 9.99894575e-01 5.07627079e-03 -5.25797387e-01] [ 7.05753593e-03 -5.17263298e-03 9.99961717e-01 -2.08535856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38719347 meters Centerline goodness [0,1] 0.8996604736498028 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.52, Z:-2.09 [[ 0.99991905 -0.01032516 -0.00743502 6.82444363] [ 0.01038322 0.99991557 0.00781338 -0.52310355] [ 0.00735372 -0.00788994 0.99994183 -2.08669261] [ 0. 0. 0. 1. ]] SLAMing on 166.41719347 meters Centerline goodness [0,1] 0.8988017658187933 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.52, Z:-2.09 [[ 0.99991387 -0.01060494 -0.00773178 6.82546632] [ 0.01066056 0.99991733 0.00718862 -0.52108285] [ 0.00765491 -0.00727043 0.99994427 -2.08724883] [ 0. 0. 0. 1. ]] SLAMing on 166.44719347 meters Centerline goodness [0,1] 0.8978442456969288 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.52, Z:-2.09 [[ 0.99991445 -0.01050032 -0.00780025 6.82560944] [ 0.01055621 0.99991865 0.00715951 -0.52029527] [ 0.00772443 -0.00724124 0.99994395 -2.08724831] [ 0. 0. 0. 1. ]] SLAMing on 166.47719347 meters Centerline goodness [0,1] 0.8965640885026681 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.52, Z:-2.09 [[ 0.99991092 -0.0106287 -0.00807373 6.82637916] [ 0.01068485 0.99991881 0.00694355 -0.51972698] [ 0.00799928 -0.0070292 0.9999433 -2.08751201] [ 0. 0. 0. 1. ]] SLAMing on 166.50719347 meters Centerline goodness [0,1] 0.8989505435807201 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99956603e-01 -8.15334422e-03 -4.50723035e-03 6.83652501e+00] [ 8.14718998e-03 9.99965856e-01 -1.38209325e-03 -5.18843524e-01] [ 4.51834513e-03 1.34531201e-03 9.99988887e-01 -2.08932993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53719347 meters Centerline goodness [0,1] 0.8977344639918997 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99956068e-01 -8.13977930e-03 -4.64832531e-03 6.83652303e+00] [ 8.13463043e-03 9.99966280e-01 -1.12551772e-03 -5.19355473e-01] [ 4.65733003e-03 1.08765586e-03 9.99988563e-01 -2.08888846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56719347 meters Centerline goodness [0,1] 0.8968511571049192 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99952437e-01 -8.42727713e-03 -4.90959789e-03 6.83715317e+00] [ 8.42236879e-03 9.99964011e-01 -1.01956259e-03 -5.20140741e-01] [ 4.91801334e-03 9.78163653e-04 9.99987428e-01 -2.08898029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59719347 meters Centerline goodness [0,1] 0.8982359496225899 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99944847e-01 -9.08606784e-03 -5.26739781e-03 6.83844321e+00] [ 9.08077211e-03 9.99958240e-01 -1.02842680e-03 -5.21368014e-01] [ 5.27652220e-03 9.80538038e-04 9.99985598e-01 -2.08969338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62719347 meters Centerline goodness [0,1] 0.8971252480054034 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99937028e-01 -9.76725240e-03 -5.52636522e-03 6.83927917e+00] [ 9.76211646e-03 9.99951893e-01 -9.55566319e-04 -5.22795104e-01] [ 5.53543262e-03 9.01557124e-04 9.99984273e-01 -2.09003442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65719347 meters Centerline goodness [0,1] 0.8969289463145248 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99872372e-01 -1.49544250e-02 -5.62190914e-03 6.83987158e+00] [ 1.49244348e-02 9.99874369e-01 -5.33916444e-03 -5.23170520e-01] [ 5.70104700e-03 5.25457919e-03 9.99969943e-01 -2.09025782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68719347 meters Centerline goodness [0,1] 0.8969289463145248 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99872372e-01 -1.49544250e-02 -5.62190914e-03 6.83987158e+00] [ 1.49244348e-02 9.99874369e-01 -5.33916444e-03 -5.23170520e-01] [ 5.70104700e-03 5.25457919e-03 9.99969943e-01 -2.09025782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71719347 meters Centerline goodness [0,1] 0.8920004182787828 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99853516e-01 -1.60628297e-02 -5.91026639e-03 6.84071569e+00] [ 1.60301940e-02 9.99856224e-01 -5.52841094e-03 -5.24357500e-01] [ 5.99821856e-03 5.43285840e-03 9.99967252e-01 -2.09028917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74719346999998 meters Centerline goodness [0,1] 0.8759114884317145 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99834750e-01 -1.71573611e-02 -6.00813281e-03 6.84097529e+00] [ 1.71219904e-02 9.99836060e-01 -5.88989270e-03 -5.24975554e-01] [ 6.10820285e-03 5.78604820e-03 9.99964605e-01 -2.09013083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77719347 meters Centerline goodness [0,1] 0.8863295365693878 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99814473e-01 -1.82400124e-02 -6.19039494e-03 6.84159509e+00] [ 1.81997703e-02 9.99813268e-01 -6.49597939e-03 -5.24643258e-01] [ 6.30772574e-03 6.38211044e-03 9.99959740e-01 -2.09026789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80719347 meters Centerline goodness [0,1] 0.813649125029025 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99763501e-01 -2.07793028e-02 -6.41577747e-03 6.84315637e+00] [ 2.07226281e-02 9.99746734e-01 -8.77725031e-03 -5.21337361e-01] [ 6.59653771e-03 8.64222274e-03 9.99940897e-01 -2.09144056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83719347 meters Centerline goodness [0,1] 0.8206828114773135 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.52, Z:-2.09 [[ 9.99812136e-01 -1.82168497e-02 -6.62105147e-03 6.84392571e+00] [ 1.81795786e-02 9.99818794e-01 -5.64644719e-03 -5.20705393e-01] [ 6.72271218e-03 5.52501850e-03 9.99962139e-01 -2.09187238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86719347 meters Centerline goodness [0,1] 0.7839102550711317 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.52, Z:-2.09 [[ 9.99804998e-01 -1.88918622e-02 -5.75001655e-03 6.86445734e+00] [ 1.88358638e-02 9.99776096e-01 -9.64197630e-03 -5.16509606e-01] [ 5.93088399e-03 9.53178957e-03 9.99936983e-01 -2.09339956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89719347 meters Centerline goodness [0,1] 0.7665867306155076 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.51, Z:-2.09 [[ 9.99842182e-01 -1.67241614e-02 -5.99271956e-03 6.86536087e+00] [ 1.66747613e-02 9.99827336e-01 -8.20062455e-03 -5.10248909e-01] [ 6.12883341e-03 8.09940318e-03 9.99948417e-01 -2.09401831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92719347 meters Centerline goodness [0,1] 0.8111082942493768 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.51, Z:-2.09 [[ 9.99887148e-01 -1.37566118e-02 -6.03715111e-03 6.86542879e+00] [ 1.37250356e-02 9.99892072e-01 -5.24094382e-03 -5.08113683e-01] [ 6.10859716e-03 5.15749226e-03 9.99968042e-01 -2.09398878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95719347 meters Centerline goodness [0,1] 0.7620551695093704 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.51, Z:-2.09 [[ 9.99917483e-01 -1.10992134e-02 -6.46799582e-03 6.86669761e+00] [ 1.10823919e-02 9.99935128e-01 -2.63078734e-03 -5.05358326e-01] [ 6.49677589e-03 2.55888939e-03 9.99975622e-01 -2.09452302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98719347 meters Centerline goodness [0,1] 0.795596554926961 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.50, Z:-2.09 [[ 9.99938796e-01 -8.88347975e-03 -6.59461064e-03 6.86682436e+00] [ 8.87299119e-03 9.99959325e-01 -1.61803298e-03 -4.96435264e-01] [ 6.60871617e-03 1.55942002e-03 9.99976946e-01 -2.09442686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01719347 meters Centerline goodness [0,1] 0.7764441267972757 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.49, Z:-2.10 [[ 9.99951759e-01 -6.73619739e-03 -7.14871240e-03 6.86862716e+00] [ 6.73860300e-03 9.99977247e-01 3.12475537e-04 -4.92840121e-01] [ 7.14644485e-03 -3.60632797e-04 9.99974399e-01 -2.09530875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04719347 meters Centerline goodness [0,1] 0.7931056360367982 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.49, Z:-2.09 [[ 9.99946709e-01 -7.25829879e-03 -7.34137383e-03 6.86877582e+00] [ 7.25089864e-03 9.99973177e-01 -1.03412125e-03 -4.88299588e-01] [ 7.34868287e-03 9.80834579e-04 9.99972517e-01 -2.09498225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07719347 meters Centerline goodness [0,1] 0.7741683222724774 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.49, Z:-2.10 [[ 9.99962463e-01 -4.65231467e-03 -7.30942704e-03 6.86893317e+00] [ 4.66412313e-03 9.99987844e-01 1.59929718e-03 -4.85970783e-01] [ 7.30189775e-03 -1.63332922e-03 9.99972007e-01 -2.09505456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10719347 meters Centerline goodness [0,1] 0.7595533656184575 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.48, Z:-2.10 [[ 9.99957618e-01 -5.47687696e-03 -7.40039445e-03 6.86936812e+00] [ 5.47742838e-03 9.99984997e-01 5.42465620e-05 -4.81300650e-01] [ 7.39998633e-03 -9.47793935e-05 9.99972615e-01 -2.09537009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13719347 meters Centerline goodness [0,1] 0.7269436376646883 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.47, Z:-2.10 [[ 9.99953003e-01 -5.47902085e-03 -7.99823736e-03 6.87184722e+00] [ 5.47631155e-03 9.99984940e-01 -3.60599197e-04 -4.72001249e-01] [ 8.00009264e-03 3.16781411e-04 9.99967949e-01 -2.09693069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16719347 meters Centerline goodness [0,1] 0.744184088086065 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.47, Z:-2.10 [[ 9.99961098e-01 -3.86241358e-03 -7.92990252e-03 6.87183325e+00] [ 3.87300625e-03 9.99991628e-01 1.32086660e-03 -4.68380080e-01] [ 7.92473440e-03 -1.35152778e-03 9.99967685e-01 -2.09687259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19719347 meters Centerline goodness [0,1] 0.7461741424802111 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.46, Z:-2.09 [[ 9.99966671e-01 -3.19900837e-03 -7.51155104e-03 6.86950646e+00] [ 3.20516420e-03 9.99994537e-01 8.07619182e-04 -4.59010622e-01] [ 7.50892643e-03 -8.31668020e-04 9.99971462e-01 -2.09469395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22719347 meters Centerline goodness [0,1] 0.7299274703431943 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.45, Z:-2.09 [[ 9.99968781e-01 -2.81130817e-03 -7.38473557e-03 6.86838278e+00] [ 2.81325141e-03 9.99996011e-01 2.52767886e-04 -4.53989215e-01] [ 7.38399551e-03 -2.73535112e-04 9.99972701e-01 -2.09341310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25719347 meters Centerline goodness [0,1] 0.7499419451540037 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.45, Z:-2.09 [[ 9.99970730e-01 -1.33360386e-04 -7.64990518e-03 6.86886209e+00] [ 1.49415547e-04 9.99997788e-01 2.09820675e-03 -4.48883995e-01] [ 7.64960844e-03 -2.09928835e-03 9.99968538e-01 -2.09323632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28719347 meters Centerline goodness [0,1] 0.7727733648808518 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.44, Z:-2.09 [[ 9.99965650e-01 2.62189005e-03 -7.86284317e-03 6.86921625e+00] [-2.59481959e-03 9.99990678e-01 3.45106209e-03 -4.41722973e-01] [ 7.87181818e-03 -3.43054089e-03 9.99963132e-01 -2.09298782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31719347 meters Centerline goodness [0,1] 0.8084738617200675 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-2.09 [[ 9.99928281e-01 1.00640254e-02 -6.49219008e-03 6.86752212e+00] [-1.00490268e-02 9.99946772e-01 2.33875714e-03 -4.24614878e-01] [ 6.51538183e-03 -2.27334921e-03 9.99976191e-01 -2.09227455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34719347 meters Centerline goodness [0,1] 0.8474711773121266 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-2.09 [[ 9.99889121e-01 1.33135675e-02 -6.67043146e-03 6.86814973e+00] [-1.32875183e-02 9.99903977e-01 3.93440081e-03 -4.17412410e-01] [ 6.72217185e-03 -3.84533109e-03 9.99970012e-01 -2.09228726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37719347 meters Centerline goodness [0,1] 0.9064591735467388 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-2.09 [[ 9.99835999e-01 1.67833339e-02 -6.80406470e-03 6.86853602e+00] [-1.67442554e-02 9.99843212e-01 5.76026221e-03 -4.10657504e-01] [ 6.89967431e-03 -5.64538852e-03 9.99960261e-01 -2.09215201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40719347 meters Centerline goodness [0,1] 0.9157551535549011 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.40, Z:-2.09 [[ 0.99977079 0.02016288 -0.00719841 6.86977201] [-0.02010861 0.99976942 0.00753269 -0.40413842] [ 0.00734863 -0.00738621 0.99994572 -2.0924774 ] [ 0. 0. 0. 1. ]] SLAMing on 167.43719347 meters Centerline goodness [0,1] 0.9147316250131815 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.39, Z:-2.09 [[ 0.99955045 0.02892462 -0.00789081 6.87206079] [-0.02881631 0.99949341 0.01351083 -0.39230418] [ 0.00827761 -0.01327737 0.99987759 -2.09310234] [ 0. 0. 0. 1. ]] SLAMing on 167.46719347 meters Centerline goodness [0,1] 0.9115409004438808 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.39, Z:-2.09 [[ 0.99944312 0.03237319 -0.00808846 6.87254897] [-0.03224361 0.99935724 0.01566699 -0.38648604] [ 0.00859046 -0.01539746 0.99984455 -2.09279969] [ 0. 0. 0. 1. ]] SLAMing on 167.49719346999998 meters Centerline goodness [0,1] 0.9092695916814608 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.38, Z:-2.09 [[ 0.99932702 0.03574938 -0.00821485 6.87264876] [-0.03559821 0.99920649 0.01786519 -0.38100544] [ 0.00884701 -0.01756074 0.99980666 -2.09209432] [ 0. 0. 0. 1. ]] SLAMing on 167.52719347 meters Centerline goodness [0,1] 0.9093128999663186 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.37, Z:-2.09 [[ 0.9990811 0.04209438 -0.00806286 6.87238375] [-0.04190119 0.99886175 0.02279259 -0.37363908] [ 0.00901313 -0.0224338 0.9997077 -2.09123771] [ 0. 0. 0. 1. ]] SLAMing on 167.55719347 meters Centerline goodness [0,1] 0.9092643851702734 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.37, Z:-2.09 [[ 0.99909115 0.04177357 -0.00847655 6.87361815] [-0.04158087 0.99889811 0.02176208 -0.37062953] [ 0.00937629 -0.02138984 0.99972724 -2.09177741] [ 0. 0. 0. 1. ]] SLAMing on 167.58719347 meters Centerline goodness [0,1] 0.9096407198291357 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.37, Z:-2.09 [[ 0.99910042 0.04146231 -0.0089012 6.87483527] [-0.04126721 0.99892564 0.02108529 -0.36909942] [ 0.00976588 -0.02069899 0.99973806 -2.09232113] [ 0. 0. 0. 1. ]] SLAMing on 167.61719347 meters Centerline goodness [0,1] 0.9115757996925474 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.37, Z:-2.09 [[ 0.99923353 0.03800668 -0.00937244 6.87582435] [-0.03784756 0.99914551 0.01660779 -0.36638806] [ 0.00999563 -0.01624033 0.99981815 -2.09266378] [ 0. 0. 0. 1. ]] SLAMing on 167.64719347 meters Centerline goodness [0,1] 0.9131390874106652 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.37, Z:-2.09 [[ 0.99922513 0.03817001 -0.00960199 6.87715013] [-0.03800936 0.99914295 0.01639078 -0.3657365 ] [ 0.0102194 -0.01601311 0.99981956 -2.09386062] [ 0. 0. 0. 1. ]] SLAMing on 167.67719347 meters Centerline goodness [0,1] 0.9165510864539991 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.36, Z:-2.09 [[ 0.99922336 0.03812396 -0.00996155 6.87851608] [-0.03796135 0.99915058 0.01603263 -0.36431783] [ 0.01056431 -0.01564203 0.99982185 -2.09471224] [ 0. 0. 0. 1. ]] SLAMing on 167.70719347 meters Centerline goodness [0,1] 0.9162756288311139 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.36, Z:-2.10 [[ 0.99921987 0.03812575 -0.01029972 6.87953801] [-0.03796178 0.99915629 0.01567226 -0.36265941] [ 0.01088854 -0.01526903 0.99982413 -2.09513218] [ 0. 0. 0. 1. ]] SLAMing on 167.73719347 meters Centerline goodness [0,1] 0.9151916626231514 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.36, Z:-2.10 [[ 0.99921453 0.03815636 -0.01069681 6.88040628] [-0.03798835 0.99915808 0.01549244 -0.36175728] [ 0.01127894 -0.01507392 0.99982277 -2.09521392] [ 0. 0. 0. 1. ]] SLAMing on 167.76719347 meters Centerline goodness [0,1] 0.9175370851005465 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.37, Z:-2.10 [[ 0.99928713 0.03595623 -0.01150606 6.88268243] [-0.03580227 0.99927015 0.0133181 -0.36535282] [ 0.01197653 -0.01289666 0.99984511 -2.09650912] [ 0. 0. 0. 1. ]] SLAMing on 167.79719347 meters Centerline goodness [0,1] 0.9165269511275044 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.37, Z:-2.10 [[ 0.99938363 0.03290984 -0.01221919 6.88513967] [-0.03278209 0.99940724 0.01051208 -0.36810652] [ 0.0125579 -0.01010503 0.99987009 -2.09821371] [ 0. 0. 0. 1. ]] SLAMing on 167.82719347 meters Centerline goodness [0,1] 0.9154158386537568 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.37, Z:-2.10 [[ 9.99492405e-01 2.92724139e-02 -1.25721344e-02 6.88621226e+00] [-2.91840378e-02 9.99548437e-01 7.15641868e-03 -3.70068934e-01] [ 1.27759430e-02 -6.78588047e-03 9.99895358e-01 -2.09907879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85719347 meters Centerline goodness [0,1] 0.9108015846257586 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.37, Z:-2.10 [[ 9.99581985e-01 2.56918018e-02 -1.32584846e-02 6.88809312e+00] [-2.56308251e-02 9.99660198e-01 4.74871094e-03 -3.74300989e-01] [ 1.33759822e-02 -4.40690001e-03 9.99900826e-01 -2.10012924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88719347 meters Centerline goodness [0,1] 0.9088029730357482 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.38, Z:-2.10 [[ 9.99666376e-01 2.18647649e-02 -1.37502123e-02 6.88862592e+00] [-2.18487629e-02 9.99760425e-01 1.31292465e-03 -3.75634700e-01] [ 1.37756249e-02 -1.01206150e-03 9.99904599e-01 -2.09975102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91719347 meters Centerline goodness [0,1] 0.9071603478848265 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.38, Z:-2.10 [[ 9.99733659e-01 1.82592660e-02 -1.41141946e-02 6.88896219e+00] [-1.82855711e-02 9.99831296e-01 -1.73692557e-03 -3.77760465e-01] [ 1.40800985e-02 1.99454907e-03 9.99898881e-01 -2.09937195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94719347 meters Centerline goodness [0,1] 0.9074244773117695 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.38, Z:-2.10 [[ 9.99891495e-01 1.23455752e-02 -8.03653121e-03 6.89889519e+00] [-1.23268921e-02 9.99921212e-01 2.37016426e-03 -3.81571435e-01] [ 8.06515907e-03 -2.27084163e-03 9.99964898e-01 -2.10193046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97719347 meters Centerline goodness [0,1] 0.9133218574187589 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.39, Z:-2.10 [[ 9.99958991e-01 3.86180777e-03 -8.19165419e-03 6.89792629e+00] [-3.89619444e-03 9.99983649e-01 -4.18597130e-03 -3.88001376e-01] [ 8.17535483e-03 4.21771591e-03 9.99957686e-01 -2.10034468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00719347 meters Centerline goodness [0,1] 0.90975260854931 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.39, Z:-2.10 [[ 9.99964012e-01 -5.21530496e-04 -8.46771181e-03 6.89834928e+00] [ 4.58429646e-04 9.99972127e-01 -7.45216799e-03 -3.91438347e-01] [ 8.47136233e-03 7.44801795e-03 9.99936380e-01 -2.10022141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03719347 meters Centerline goodness [0,1] 0.8983282514982651 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.39, Z:-2.10 [[ 9.99950698e-01 -4.72122380e-03 -8.73568762e-03 6.89878341e+00] [ 4.62643040e-03 9.99930544e-01 -1.08398546e-02 -3.93966980e-01] [ 8.78625826e-03 1.07989051e-02 9.99903088e-01 -2.10007491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06719347 meters Centerline goodness [0,1] 0.8689452671159087 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.40, Z:-2.10 [[ 9.99944934e-01 -5.79597715e-03 -8.74847096e-03 6.89836153e+00] [ 5.70204830e-03 9.99926243e-01 -1.07236276e-02 -3.96611045e-01] [ 8.80997960e-03 1.06731529e-02 9.99904229e-01 -2.09936603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09719347 meters Centerline goodness [0,1] 0.8359680470885011 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.40, Z:-2.10 [[ 9.99946309e-01 -1.00444585e-02 -2.54712625e-03 6.90475965e+00] [ 1.00354623e-02 9.99943446e-01 -3.52042236e-03 -3.97787761e-01] [ 2.58234293e-03 3.49467176e-03 9.99990559e-01 -2.09993469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12719347 meters Centerline goodness [0,1] 0.7948195881698537 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.40, Z:-2.10 [[ 9.99970741e-01 -7.16201381e-03 -2.68768636e-03 6.90495495e+00] [ 7.16281463e-03 9.99974305e-01 2.88451275e-04 -3.98877714e-01] [ 2.68555141e-03 -3.07694234e-04 9.99996347e-01 -2.09983387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15719347 meters Centerline goodness [0,1] 0.7792286987972075 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.40, Z:-2.10 [[ 9.99969151e-01 -7.35645150e-03 -2.75312911e-03 6.90519736e+00] [ 7.35675840e-03 9.99972934e-01 1.01361977e-04 -3.98120496e-01] [ 2.75230893e-03 -1.21612956e-04 9.99996205e-01 -2.09995603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18719347 meters Centerline goodness [0,1] 0.7570296820534488 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.40, Z:-2.10 [[ 9.99963874e-01 -8.01652490e-03 -2.82585397e-03 6.90558718e+00] [ 8.01379132e-03 9.99967411e-01 -9.77345918e-04 -3.95314679e-01] [ 2.83359680e-03 9.54664807e-04 9.99995530e-01 -2.10029065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21719347 meters Centerline goodness [0,1] 0.7854436606451343 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.39, Z:-2.10 [[ 9.99959547e-01 -8.41184571e-03 -3.18529552e-03 6.90672873e+00] [ 8.40613852e-03 9.99963046e-01 -1.80089722e-03 -3.92710970e-01] [ 3.20032668e-03 1.77404833e-03 9.99993305e-01 -2.10080231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24719346999998 meters Centerline goodness [0,1] 0.7534570406476853 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.39, Z:-2.10 [[ 9.99980857e-01 -5.26155107e-03 -3.25594661e-03 6.90718430e+00] [ 5.26615671e-03 9.99985143e-01 1.40757731e-03 -3.91391262e-01] [ 3.24849220e-03 -1.42469669e-03 9.99993709e-01 -2.10115907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27719347 meters Centerline goodness [0,1] 0.7873440699073391 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.39, Z:-2.10 [[ 9.99986875e-01 -4.03264432e-03 -3.16042478e-03 6.90604603e+00] [ 4.03983631e-03 9.99989258e-01 2.27256935e-03 -3.88147680e-01] [ 3.15122637e-03 -2.28530712e-03 9.99992424e-01 -2.09996074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30719347 meters Centerline goodness [0,1] 0.7536830568845237 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.38, Z:-2.10 [[ 9.99989153e-01 -2.71534143e-03 -3.78415558e-03 6.90893969e+00] [ 2.72572764e-03 9.99992525e-01 2.74220599e-03 -3.82085797e-01] [ 3.77668127e-03 -2.75249082e-03 9.99989080e-01 -2.10216542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33719347 meters Centerline goodness [0,1] 0.7457119348509462 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.38, Z:-2.10 [[ 9.99986334e-01 -3.23938920e-03 -4.10340838e-03 6.91020755e+00] [ 3.24609491e-03 9.99993405e-01 1.62857646e-03 -3.78516144e-01] [ 4.09810572e-03 -1.64187426e-03 9.99990255e-01 -2.10300387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36719347 meters Centerline goodness [0,1] 0.7358961452959187 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.38, Z:-2.10 [[ 9.99983225e-01 -3.24309369e-03 -4.79907915e-03 6.91304772e+00] [ 3.24916494e-03 9.99993930e-01 1.25783047e-03 -3.75326010e-01] [ 4.79497076e-03 -1.27340237e-03 9.99987693e-01 -2.10481580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39719347 meters Centerline goodness [0,1] 0.7589313776846517 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.37, Z:-2.11 [[ 9.99981071e-01 -3.57126269e-03 -5.01033012e-03 6.91412523e+00] [ 3.57321581e-03 9.99993543e-01 3.80921452e-04 -3.71634251e-01] [ 5.00893740e-03 -3.98817232e-04 9.99987376e-01 -2.10557525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42719347 meters Centerline goodness [0,1] 0.7844396105678866 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.36, Z:-2.11 [[ 9.99985879e-01 -1.41469224e-03 -5.12253763e-03 6.91467744e+00] [ 1.42224582e-03 9.99997906e-01 1.47123526e-03 -3.63975256e-01] [ 5.12044556e-03 -1.47849999e-03 9.99985797e-01 -2.10597869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45719347 meters Centerline goodness [0,1] 0.8050985278898346 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.36, Z:-2.11 [[ 9.99984542e-01 -1.52648887e-03 -5.34647102e-03 6.91525102e+00] [ 1.52868612e-03 9.99998749e-01 4.06910377e-04 -3.59849844e-01] [ 5.34584319e-03 -4.15077163e-04 9.99985625e-01 -2.10598642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48719347 meters Centerline goodness [0,1] 0.7600312717898874 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.36, Z:-2.11 [[ 9.99983324e-01 -1.50867934e-03 -5.57447384e-03 6.91555983e+00] [ 1.50540899e-03 9.99998692e-01 -5.90813955e-04 -3.55384567e-01] [ 5.57535790e-03 5.82412240e-04 9.99984288e-01 -2.10563460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51719347 meters Centerline goodness [0,1] 0.7698248575648872 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.35, Z:-2.11 [[ 9.99982736e-01 -1.08364112e-03 -5.77519442e-03 6.91609509e+00] [ 1.07645669e-03 9.99998643e-01 -1.24697933e-03 -3.50719222e-01] [ 5.77653786e-03 1.24074106e-03 9.99982546e-01 -2.10548530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54719347 meters Centerline goodness [0,1] 0.8474608229280147 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.34, Z:-2.11 [[ 9.99990257e-01 4.07123956e-03 1.70592782e-03 6.92390862e+00] [-4.06241993e-03 9.99978528e-01 -5.14194929e-03 -3.39928963e-01] [-1.72682530e-03 5.13496899e-03 9.99985325e-01 -2.10743733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57719347 meters Centerline goodness [0,1] 0.8474608229280147 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.34, Z:-2.11 [[ 9.99990257e-01 4.07123956e-03 1.70592782e-03 6.92390862e+00] [-4.06241993e-03 9.99978528e-01 -5.14194929e-03 -3.39928963e-01] [-1.72682530e-03 5.13496899e-03 9.99985325e-01 -2.10743733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60719347 meters Centerline goodness [0,1] 0.8707755153608052 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.34, Z:-2.11 [[ 9.99971376e-01 7.42175342e-03 1.47135362e-03 6.92450719e+00] [-7.41795697e-03 9.99969186e-01 -2.56912774e-03 -3.36032077e-01] [-1.49037571e-03 2.55813977e-03 9.99995617e-01 -2.10747726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63719347 meters Centerline goodness [0,1] 0.8991600185724536 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.33, Z:-2.11 [[ 9.99968525e-01 7.83601489e-03 1.24364642e-03 6.92495352e+00] [-7.83144241e-03 9.99962709e-01 -3.63991160e-03 -3.30523146e-01] [-1.27212245e-03 3.63005749e-03 9.99992602e-01 -2.10712367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66719347 meters Centerline goodness [0,1] 0.8968781555031976 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.33, Z:-2.11 [[ 9.99935652e-01 1.12934117e-02 1.07256307e-03 6.92532775e+00] [-1.12925110e-02 9.99935883e-01 -8.42160869e-04 -3.27579464e-01] [-1.08200517e-03 8.29994748e-04 9.99999070e-01 -2.10695816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69719347 meters Centerline goodness [0,1] 0.9042497100073816 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.32, Z:-2.11 [[ 9.99876836e-01 1.56227773e-02 1.49705971e-03 6.92403267e+00] [-1.56241932e-02 9.99877494e-01 9.38768231e-04 -3.21042600e-01] [-1.48221015e-03 -9.62042959e-04 9.99998439e-01 -2.10515269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72719347 meters Centerline goodness [0,1] 0.9021914310232957 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.32, Z:-2.10 [[ 9.99810649e-01 1.94231001e-02 1.18733852e-03 6.92466785e+00] [-1.94279110e-02 9.99802504e-01 4.18437689e-03 -3.18623847e-01] [-1.10583046e-03 -4.20665208e-03 9.99990541e-01 -2.10483721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75719347 meters Centerline goodness [0,1] 0.8999937010519243 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.32, Z:-2.10 [[ 9.99729026e-01 2.32564895e-02 1.00469206e-03 6.92498517e+00] [-2.32633244e-02 9.99701741e-01 7.43275955e-03 -3.15955628e-01] [-8.31532504e-04 -7.45411795e-03 9.99971872e-01 -2.10438146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78719347 meters Centerline goodness [0,1] 0.9078014184397163 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.31, Z:-2.10 [[ 9.99492265e-01 3.18502856e-02 8.78348322e-04 6.92517726e+00] [-3.18599346e-02 9.99377828e-01 1.51294577e-02 -3.13072391e-01] [-3.95924290e-04 -1.51497601e-02 9.99885157e-01 -2.10347903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81719347 meters Centerline goodness [0,1] 0.9131219440538896 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.31, Z:-2.10 [[ 9.99467980e-01 3.26114631e-02 4.98769123e-04 6.92627579e+00] [-3.26152761e-02 9.99354663e-01 1.50499812e-02 -3.11054645e-01] [-7.64534246e-06 -1.50582418e-02 9.99886618e-01 -2.10367568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84719347 meters Centerline goodness [0,1] 0.9163823244450061 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.31, Z:-2.10 [[ 9.99447814e-01 3.32274470e-02 6.89234504e-05 6.92778434e+00] [-3.32246804e-02 9.99333183e-01 1.51429535e-02 -3.10174567e-01] [ 4.34284194e-04 -1.51368817e-02 9.99885337e-01 -2.10442422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87719347 meters Centerline goodness [0,1] 0.9170401691331924 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.31, Z:-2.11 [[ 9.99426157e-01 3.38703471e-02 -3.95186996e-04 6.92957431e+00] [-3.38599900e-02 9.99303529e-01 1.56830366e-02 -3.11061375e-01] [ 9.26101654e-04 -1.56606560e-02 9.99876936e-01 -2.10553595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90719347 meters Centerline goodness [0,1] 0.9190082992796057 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.32, Z:-2.11 [[ 9.99471447e-01 3.24862299e-02 -1.21291682e-03 6.93306428e+00] [-3.24657126e-02 9.99371535e-01 1.42307155e-02 -3.15725018e-01] [ 1.67445684e-03 -1.41838156e-02 9.99898003e-01 -2.10818657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93719347 meters Centerline goodness [0,1] 0.9209001453886513 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.32, Z:-2.11 [[ 9.99568863e-01 2.93228751e-02 -1.50203790e-03 6.93376817e+00] [-2.93049907e-02 9.99512216e-01 1.07957292e-02 -3.16574745e-01] [ 1.81786704e-03 -1.07470575e-02 9.99940596e-01 -2.10847958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96719346999998 meters Centerline goodness [0,1] 0.9211820580474934 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.32, Z:-2.11 [[ 9.99653643e-01 2.62505682e-02 -1.87122161e-03 6.93440593e+00] [-2.62359653e-02 9.99628072e-01 7.44251258e-03 -3.16962152e-01] [ 2.06589584e-03 -7.39084151e-03 9.99970553e-01 -2.10843840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99719346999998 meters Centerline goodness [0,1] 0.9218882124133265 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.32, Z:-2.11 [[ 9.99727469e-01 2.32500274e-02 -2.10338924e-03 6.93484324e+00] [-2.32410401e-02 9.99721065e-01 4.20080318e-03 -3.17386120e-01] [ 2.20047132e-03 -4.15077338e-03 9.99988964e-01 -2.10834792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02719347 meters Centerline goodness [0,1] 0.920370604871048 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.32, Z:-2.11 [[ 9.99775978e-01 2.09991217e-02 -2.65145589e-03 6.93584955e+00] [-2.09913872e-02 9.99775416e-01 2.91198948e-03 -3.24445128e-01] [ 2.71200964e-03 -2.85567939e-03 9.99992245e-01 -2.10846556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05719347 meters Centerline goodness [0,1] 0.9178076402974983 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.33, Z:-2.11 [[ 9.99840716e-01 1.75727704e-02 -3.12109092e-03 6.93674234e+00] [-1.75729773e-02 9.99845583e-01 -3.88681220e-05 -3.27441529e-01] [ 3.11992594e-03 9.37087908e-05 9.99995129e-01 -2.10854421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08719347 meters Centerline goodness [0,1] 0.9169482933423454 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.33, Z:-2.11 [[ 9.99893629e-01 1.41404422e-02 -3.57464111e-03 6.93769004e+00] [-1.41506067e-02 9.99895858e-01 -2.83439549e-03 -3.30941968e-01] [ 3.53418923e-03 2.88467734e-03 9.99989594e-01 -2.10872666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11719347 meters Centerline goodness [0,1] 0.9151991901638653 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.34, Z:-2.11 [[ 9.99953573e-01 9.00238496e-03 -3.43636101e-03 6.93674810e+00] [-9.02423406e-03 9.99938822e-01 -6.39655854e-03 -3.41443118e-01] [ 3.37856650e-03 6.42727210e-03 9.99973637e-01 -2.10800776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14719347 meters Centerline goodness [0,1] 0.9114501250288932 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.35, Z:-2.11 [[ 9.99991310e-01 2.99589913e-03 -2.89888535e-03 6.94468152e+00] [-2.99681688e-03 9.99995461e-01 -3.12293905e-04 -3.47801338e-01] [ 2.89793659e-03 3.20978620e-04 9.99995749e-01 -2.10650494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17719347 meters Centerline goodness [0,1] 0.910637758871836 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.35, Z:-2.11 [[ 9.99995233e-01 -3.03426287e-04 -3.07286038e-03 6.94494472e+00] [ 2.95397703e-04 9.99996543e-01 -2.61285645e-03 -3.53040649e-01] [ 3.07364257e-03 2.61193628e-03 9.99991865e-01 -2.10635870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20719347 meters Centerline goodness [0,1] 0.9051960660166308 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.36, Z:-2.11 [[ 9.99974116e-01 -6.36279677e-03 -3.35886502e-03 6.94591758e+00] [ 6.34050875e-03 9.99958085e-01 -6.60504064e-03 -3.62557984e-01] [ 3.40075076e-03 6.58357276e-03 9.99972545e-01 -2.10692825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23719347 meters Centerline goodness [0,1] 0.9029226675676817 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.37, Z:-2.11 [[ 9.99972107e-01 -6.49552796e-03 -3.68687370e-03 6.94665577e+00] [ 6.47708526e-03 9.99966561e-01 -4.99234999e-03 -3.68608285e-01] [ 3.71917836e-03 4.96833054e-03 9.99980742e-01 -2.10703234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26719347 meters Centerline goodness [0,1] 0.901187357390349 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.37, Z:-2.11 [[ 9.99945432e-01 -9.61679759e-03 -4.08054148e-03 6.94783418e+00] [ 9.58775103e-03 9.99928978e-01 -7.07914365e-03 -3.73373665e-01] [ 4.14833036e-03 7.03963413e-03 9.99966617e-01 -2.10738710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29719347 meters Centerline goodness [0,1] 0.9004440142252899 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.38, Z:-2.11 [[ 9.99908562e-01 -1.27379309e-02 -4.54019806e-03 6.94956480e+00] [ 1.26971179e-02 9.99879713e-01 -8.90749295e-03 -3.78942933e-01] [ 4.65311496e-03 8.84903103e-03 9.99950020e-01 -2.10822670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32719347 meters Centerline goodness [0,1] 0.9007953206530888 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-2.11 [[ 9.99804188e-01 -1.91724727e-02 -4.89926531e-03 6.95060506e+00] [ 1.91058721e-02 9.99729038e-01 -1.32972398e-02 -3.88572432e-01] [ 5.15287876e-03 1.32010313e-02 9.99899585e-01 -2.10837379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35719347 meters Centerline goodness [0,1] 0.8992531015275551 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-2.11 [[ 9.99729705e-01 -2.26599427e-02 -5.20032988e-03 6.95103521e+00] [ 2.25745234e-02 9.99618157e-01 -1.59352360e-02 -3.92106390e-01] [ 5.55943570e-03 1.58135338e-02 9.99859503e-01 -2.10782022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38719347 meters Centerline goodness [0,1] 0.8943108233117484 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-2.11 [[ 9.99641634e-01 -2.62172655e-02 -5.40907854e-03 6.95154901e+00] [ 2.61120646e-02 9.99484472e-01 -1.86802317e-02 -3.95490776e-01] [ 5.89603460e-03 1.85322952e-02 9.99810878e-01 -2.10756614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41719347 meters Centerline goodness [0,1] 0.891684533568756 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-2.11 [[ 9.99630718e-01 -2.65798707e-02 -5.65142425e-03 6.95204869e+00] [ 2.64773759e-02 9.99496274e-01 -1.74970677e-02 -4.00513514e-01] [ 6.11364728e-03 1.73409715e-02 9.99830943e-01 -2.10740785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44719347 meters Centerline goodness [0,1] 0.862984654785146 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-2.11 [[ 9.99512789e-01 -3.06981309e-02 -5.63994020e-03 6.95178532e+00] [ 3.05757587e-02 9.99319439e-01 -2.06344577e-02 -4.03021603e-01] [ 6.26954116e-03 2.04519590e-02 9.99771179e-01 -2.10660067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47719347 meters Centerline goodness [0,1] 0.8506775010994995 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-2.11 [[ 9.99501849e-01 -3.09635430e-02 -6.10849157e-03 6.95292135e+00] [ 3.08329500e-02 9.99315833e-01 -2.04253742e-02 -4.03415964e-01] [ 6.73675429e-03 2.02268564e-02 9.99772719e-01 -2.10673476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50719347 meters Centerline goodness [0,1] 0.8142685573418175 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-2.11 [[ 9.99495233e-01 -3.11063546e-02 -6.45557634e-03 6.95383795e+00] [ 3.09698053e-02 9.99314730e-01 -2.02717109e-02 -4.03516755e-01] [ 7.08173155e-03 2.00615505e-02 9.99773666e-01 -2.10688159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53719347 meters Centerline goodness [0,1] 0.8384602418777127 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-2.11 [[ 0.99957401 -0.02834001 -0.00697378 6.95497152] [ 0.02822066 0.99946294 -0.01665622 -0.40484681] [ 0.00744207 0.01645232 0.99983696 -2.10717932] [ 0. 0. 0. 1. ]] SLAMing on 169.56719347 meters Centerline goodness [0,1] 0.8362700204688852 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.40, Z:-2.11 [[ 0.99965098 -0.0254067 -0.00723969 6.95642881] [ 0.02530371 0.99958207 -0.01397886 -0.40174015] [ 0.00759182 0.01379079 0.99987608 -2.10863202] [ 0. 0. 0. 1. ]] SLAMing on 169.59719347 meters Centerline goodness [0,1] 0.8368299845767044 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.40, Z:-2.11 [[ 0.99972668 -0.02206616 -0.00772352 6.95817439] [ 0.02198165 0.99969938 -0.0108609 -0.39902364] [ 0.00796086 0.01068816 0.99991119 -2.10977908] [ 0. 0. 0. 1. ]] SLAMing on 169.62719347 meters Centerline goodness [0,1] 0.8820458850768259 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.39, Z:-2.11 [[ 9.99846881e-01 -1.53372417e-02 -8.42523396e-03 6.95975643e+00] [ 1.52896639e-02 9.99866957e-01 -5.68273654e-03 -3.91471159e-01] [ 8.51127055e-03 5.55304740e-03 9.99948360e-01 -2.11023630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65719347 meters Centerline goodness [0,1] 0.8989737550471063 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.39, Z:-2.11 [[ 9.99899690e-01 -1.11925326e-02 -8.67973407e-03 6.96007508e+00] [ 1.11716227e-02 9.99934585e-01 -2.45380746e-03 -3.88087664e-01] [ 8.70663061e-03 2.35659460e-03 9.99959320e-01 -2.10989446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68719347 meters Centerline goodness [0,1] 0.9068603847844746 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.38, Z:-2.11 [[ 9.99930021e-01 -7.50271530e-03 -9.14675855e-03 6.96108156e+00] [ 7.50517041e-03 9.99971808e-01 2.34117348e-04 -3.84230932e-01] [ 9.14474418e-03 -3.02748946e-04 9.99958140e-01 -2.10995148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71719346999998 meters Centerline goodness [0,1] 0.9108444332746921 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.38, Z:-2.11 [[ 9.99949346e-01 -3.76092140e-03 -9.33603372e-03 6.96174952e+00] [ 3.78851370e-03 9.99988503e-01 2.93953986e-03 -3.79792461e-01] [ 9.32487100e-03 -2.97476065e-03 9.99952098e-01 -2.11018941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74719346999998 meters Centerline goodness [0,1] 0.9104093221591268 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.37, Z:-2.11 [[ 9.99953451e-01 -2.13273593e-04 -9.64626941e-03 6.96269029e+00] [ 2.65076033e-04 9.99985550e-01 5.36924490e-03 -3.74681670e-01] [ 9.64498490e-03 -5.37155197e-03 9.99939058e-01 -2.11055106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77719347 meters Centerline goodness [0,1] 0.9101324364095018 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.37, Z:-2.11 [[ 0.99991554 0.00792064 -0.01030407 6.96497557] [-0.00780015 0.99990134 0.01168173 -0.36748338] [ 0.01039558 -0.01160037 0.99987867 -2.11170073] [ 0. 0. 0. 1. ]] SLAMing on 169.80719347 meters Centerline goodness [0,1] 0.9120021925663567 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.37, Z:-2.11 [[ 0.99991016 0.00831192 -0.01051593 6.96547978] [-0.00819472 0.99990437 0.01114001 -0.36529204] [ 0.01060752 -0.01105284 0.99988265 -2.11165128] [ 0. 0. 0. 1. ]] SLAMing on 169.83719347 meters Centerline goodness [0,1] 0.9127929069031032 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.36, Z:-2.11 [[ 9.99926111e-01 5.45846704e-03 -1.08617818e-02 6.96633519e+00] [-5.38082745e-03 9.99959858e-01 7.16439251e-03 -3.63419424e-01] [ 1.09004524e-02 -7.10541776e-03 9.99915343e-01 -2.11167514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86719347 meters Centerline goodness [0,1] 0.9139573694995458 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.37, Z:-2.11 [[ 9.99917482e-01 6.36088718e-03 -1.11609737e-02 6.96770552e+00] [-6.27134636e-03 9.99948018e-01 8.03941232e-03 -3.65426008e-01] [ 1.12115313e-02 -7.96875460e-03 9.99905396e-01 -2.11269653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89719347 meters Centerline goodness [0,1] 0.9138941178958946 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.36, Z:-2.11 [[ 9.99930814e-01 3.05119448e-03 -1.13603521e-02 6.96816556e+00] [-3.00300628e-03 9.99986432e-01 4.25643220e-03 -3.64410105e-01] [ 1.13731852e-02 -4.22202250e-03 9.99926410e-01 -2.11261842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92719347 meters Centerline goodness [0,1] 0.9125961294684357 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.36, Z:-2.11 [[ 9.99933757e-01 5.46209181e-04 -1.14970986e-02 6.96840032e+00] [-5.29492860e-04 9.99998798e-01 1.45695362e-03 -3.64448395e-01] [ 1.14978806e-02 -1.45076947e-03 9.99932845e-01 -2.11235270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95719347 meters Centerline goodness [0,1] 0.9120665624868015 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.37, Z:-2.11 [[ 9.99927665e-01 1.66403609e-03 -1.19119901e-02 6.96904240e+00] [-1.62430395e-03 9.99993088e-01 3.34437309e-03 -3.69304568e-01] [ 1.19174729e-02 -3.32478248e-03 9.99923457e-01 -2.11198337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98719347 meters Centerline goodness [0,1] 0.9144476639664981 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.37, Z:-2.11 [[ 9.99922951e-01 2.21131123e-03 -1.22148618e-02 6.96955427e+00] [-2.15871356e-03 9.99988349e-01 4.31754708e-03 -3.72217187e-01] [ 1.22242669e-02 -4.29084603e-03 9.99916074e-01 -2.11177759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01719347 meters Centerline goodness [0,1] 0.9151261922849666 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.37, Z:-2.11 [[ 9.99918110e-01 7.35358447e-04 -1.27762768e-02 6.97191582e+00] [-7.00595403e-04 9.99996041e-01 2.72516831e-03 -3.74822273e-01] [ 1.27782302e-02 -2.71599415e-03 9.99914666e-01 -2.11319143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04719347 meters Centerline goodness [0,1] 0.9124152354395082 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.38, Z:-2.11 [[ 9.99912184e-01 4.67837310e-05 -1.32522442e-02 6.97405009e+00] [-1.78650000e-05 9.99997619e-01 2.18228611e-03 -3.78564790e-01] [ 1.32523147e-02 -2.18185772e-03 9.99909804e-01 -2.11454696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07719347 meters Centerline goodness [0,1] 0.9177260481562552 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.38, Z:-2.12 [[ 9.99901900e-01 -1.23492923e-03 -1.39522825e-02 6.97717995e+00] [ 1.25291059e-03 9.99998396e-01 1.28010768e-03 -3.82861092e-01] [ 1.39506793e-02 -1.29746307e-03 9.99901843e-01 -2.11653866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10719347 meters Centerline goodness [0,1] 0.9147176993021781 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.39, Z:-2.12 [[ 9.99898152e-01 -3.41628459e-03 -1.38569583e-02 6.97662821e+00] [ 3.43174531e-03 9.99993515e-01 1.09211244e-03 -3.93512815e-01] [ 1.38531375e-02 -1.13955476e-03 9.99903391e-01 -2.11577188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13719347 meters Centerline goodness [0,1] 0.9145532166708936 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.40, Z:-2.11 [[ 9.99881459e-01 -6.59510542e-03 -1.39130487e-02 6.97611633e+00] [ 6.57937787e-03 9.99977664e-01 -1.17588683e-03 -3.97489183e-01] [ 1.39204931e-02 1.08420824e-03 9.99902517e-01 -2.11470635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16719347 meters Centerline goodness [0,1] 0.9133423294256557 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.40, Z:-2.11 [[ 9.99850263e-01 -9.98838769e-03 -1.41309382e-02 6.97634080e+00] [ 9.93946231e-03 9.99944378e-01 -3.52829391e-03 -4.01396451e-01] [ 1.41653942e-02 3.38731167e-03 9.99893928e-01 -2.11408308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19719347 meters Centerline goodness [0,1] 0.9087469349792847 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.41, Z:-2.11 [[ 0.99975887 -0.01690783 -0.01401202 6.97553588] [ 0.01679769 0.99982737 -0.00794173 -0.41058686] [ 0.01414388 0.00770444 0.99987029 -2.11257956] [ 0. 0. 0. 1. ]] SLAMing on 170.22719347 meters Centerline goodness [0,1] 0.9084981157640682 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.42, Z:-2.11 [[ 0.99969506 -0.02024526 -0.01413934 6.97572977] [ 0.02010454 0.99974762 -0.01002477 -0.41670084] [ 0.01433873 0.00973745 0.99984978 -2.1120228 ] [ 0. 0. 0. 1. ]] SLAMing on 170.25719347 meters Centerline goodness [0,1] 0.9084647949619832 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.42, Z:-2.11 [[ 9.99670225e-01 -2.42417908e-02 -8.47207621e-03 6.98678553e+00] [ 2.42088233e-02 9.99699031e-01 -3.97244984e-03 -4.24944825e-01] [ 8.56582567e-03 3.76604083e-03 9.99956221e-01 -2.11482775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28719347 meters Centerline goodness [0,1] 0.9084764379105675 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.43, Z:-2.11 [[ 0.99950779 -0.03037913 -0.0078286 6.98470354] [ 0.03031398 0.99950588 -0.00831065 -0.43387543] [ 0.0080772 0.00806924 0.99993482 -2.11274805] [ 0. 0. 0. 1. ]] SLAMing on 170.31719347 meters Centerline goodness [0,1] 0.9116416649059793 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.44, Z:-2.11 [[ 9.99511878e-01 -3.01857919e-02 -8.05130752e-03 6.98519703e+00] [ 3.01299990e-02 9.99521734e-01 -6.96324031e-03 -4.37839153e-01] [ 8.25764778e-03 6.71725551e-03 9.99943343e-01 -2.11258782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34719347 meters Centerline goodness [0,1] 0.9096403364185791 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.44, Z:-2.11 [[ 9.99515921e-01 -2.99051561e-02 -8.57939080e-03 6.98666597e+00] [ 2.98563372e-02 9.99537586e-01 -5.76301352e-03 -4.41165175e-01] [ 8.74776740e-03 5.50407458e-03 9.99946589e-01 -2.11306403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37719347 meters Centerline goodness [0,1] 0.9073407814176608 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.45, Z:-2.11 [[ 9.99537148e-01 -2.89654589e-02 -9.30005852e-03 6.98952138e+00] [ 2.89301529e-02 9.99573793e-01 -3.90869715e-03 -4.45381474e-01] [ 9.40931198e-03 3.63783589e-03 9.99949114e-01 -2.11488693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40719347 meters Centerline goodness [0,1] 0.9059201759766493 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.45, Z:-2.12 [[ 9.99587272e-01 -2.69317069e-02 -9.99847997e-03 6.99282521e+00] [ 2.69269230e-02 9.99637217e-01 -6.12794357e-04 -4.53147474e-01] [ 1.00113563e-02 3.43313139e-04 9.99949826e-01 -2.11750694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43719347 meters Centerline goodness [0,1] 0.9059911912840073 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.46, Z:-2.12 [[ 9.99611714e-01 -2.58148932e-02 -1.04886566e-02 6.99473186e+00] [ 2.58268143e-02 9.99665929e-01 1.00269521e-03 -4.56470768e-01] [ 1.04592682e-02 -1.27319447e-03 9.99944490e-01 -2.11861938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46719346999998 meters Centerline goodness [0,1] 0.9059911912840073 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.46, Z:-2.12 [[ 9.99611714e-01 -2.58148932e-02 -1.04886566e-02 6.99473186e+00] [ 2.58268143e-02 9.99665929e-01 1.00269521e-03 -4.56470768e-01] [ 1.04592682e-02 -1.27319447e-03 9.99944490e-01 -2.11861938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49719346999998 meters Centerline goodness [0,1] 0.9078135204027892 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.46, Z:-2.12 [[ 9.99627156e-01 -2.50680067e-02 -1.08232789e-02 6.99560643e+00] [ 2.50932175e-02 9.99682695e-01 2.19981158e-03 -4.59348667e-01] [ 1.07646997e-02 -2.47058228e-03 9.99939007e-01 -2.11881471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52719347 meters Centerline goodness [0,1] 0.9076241695665929 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.47, Z:-2.12 [[ 9.99663293e-01 -2.34597676e-02 -1.10877868e-02 6.99621747e+00] [ 2.35154029e-02 9.99711396e-01 4.91423586e-03 -4.66024409e-01] [ 1.09692999e-02 -5.17331497e-03 9.99926453e-01 -2.11868118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55719347 meters Centerline goodness [0,1] 0.9080680570801317 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.47, Z:-2.12 [[ 9.99668876e-01 -2.30313422e-02 -1.14758954e-02 6.99713905e+00] [ 2.30993596e-02 9.99716175e-01 5.83009319e-03 -4.68300715e-01] [ 1.13383634e-02 -6.09324854e-03 9.99917153e-01 -2.11877954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58719347 meters Centerline goodness [0,1] 0.9083614153327717 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.47, Z:-2.12 [[ 9.99667398e-01 -2.28929208e-02 -1.18746721e-02 6.99831441e+00] [ 2.29694938e-02 9.99715983e-01 6.35262084e-03 -4.69724103e-01] [ 1.17258695e-02 -6.62326316e-03 9.99909314e-01 -2.11915242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61719347 meters Centerline goodness [0,1] 0.9080098010223481 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.47, Z:-2.12 [[ 9.99664273e-01 -2.27931945e-02 -1.23211688e-02 6.99946946e+00] [ 2.28786674e-02 9.99714842e-01 6.84119725e-03 -4.71160680e-01] [ 1.21617226e-02 -7.12079240e-03 9.99900688e-01 -2.11947251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64719347 meters Centerline goodness [0,1] 0.905596322537112 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.48, Z:-2.12 [[ 9.99601048e-01 -2.49957668e-02 -1.31513126e-02 7.00299006e+00] [ 2.50678660e-02 9.99671456e-01 5.34627400e-03 -4.75679548e-01] [ 1.30133576e-02 -5.67381643e-03 9.99899225e-01 -2.12168479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67719347 meters Centerline goodness [0,1] 0.9048763519069003 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.48, Z:-2.12 [[ 9.99590838e-01 -2.51887327e-02 -1.35530332e-02 7.00464637e+00] [ 2.52694773e-02 9.99663735e-01 5.81975971e-03 -4.78034463e-01] [ 1.34018835e-02 -6.15985655e-03 9.99891217e-01 -2.12267619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70719347 meters Centerline goodness [0,1] 0.9029040030434966 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.48, Z:-2.12 [[ 9.99583658e-01 -2.53685358e-02 -1.37458544e-02 7.00539987e+00] [ 2.54538193e-02 9.99657599e-01 6.06526203e-03 -4.79111587e-01] [ 1.35872810e-02 -6.41262130e-03 9.99887126e-01 -2.12301962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73719347 meters Centerline goodness [0,1] 0.9045813586097946 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.48, Z:-2.12 [[ 9.99468378e-01 -2.95199769e-02 -1.38395397e-02 7.00587822e+00] [ 2.95544833e-02 9.99560535e-01 2.29542006e-03 -4.79686924e-01] [ 1.37656970e-02 -2.70322021e-03 9.99901594e-01 -2.12294795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76719347 meters Centerline goodness [0,1] 0.9031133828996283 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.48, Z:-2.12 [[ 9.99453554e-01 -2.99584538e-02 -1.39672353e-02 7.00617662e+00] [ 2.99989995e-02 9.99546275e-01 2.70245422e-03 -4.82409333e-01] [ 1.38799366e-02 -3.11998056e-03 9.99898801e-01 -2.12273383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79719347 meters Centerline goodness [0,1] 0.9058346188795672 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.49, Z:-2.12 [[ 9.99444722e-01 -3.02156387e-02 -1.40450352e-02 7.00633832e+00] [ 3.02656643e-02 9.99536233e-01 3.36295222e-03 -4.85219606e-01] [ 1.39369078e-02 -3.78616717e-03 9.99895708e-01 -2.12236994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82719347 meters Centerline goodness [0,1] 0.9039532528900515 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.49, Z:-2.12 [[ 9.99414280e-01 -3.10816068e-02 -1.43188680e-02 7.00714196e+00] [ 3.11302754e-02 9.99510249e-01 3.18859990e-03 -4.86625692e-01] [ 1.42127485e-02 -3.63248258e-03 9.99892396e-01 -2.12244979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85719347 meters Centerline goodness [0,1] 0.8868161022791368 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.49, Z:-2.12 [[ 9.99375364e-01 -3.37829967e-02 -1.03726185e-02 7.02398886e+00] [ 3.38042677e-02 9.99426700e-01 1.88220632e-03 -4.88622400e-01] [ 1.03030853e-02 -2.23166939e-03 9.99944431e-01 -2.12136791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88719347 meters Centerline goodness [0,1] 0.8732780625698795 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.49, Z:-2.12 [[ 9.99357511e-01 -3.42735499e-02 -1.04828398e-02 7.02425595e+00] [ 3.42983899e-02 9.99409218e-01 2.19900316e-03 -4.90651758e-01] [ 1.04012790e-02 -2.55713484e-03 9.99942636e-01 -2.12120748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91719347 meters Centerline goodness [0,1] 0.814489456276728 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.49, Z:-2.12 [[ 9.99339373e-01 -3.47085260e-02 -1.07766712e-02 7.02517950e+00] [ 3.47389891e-02 9.99392899e-01 2.65250248e-03 -4.93218373e-01] [ 1.06780642e-02 -3.02512082e-03 9.99938412e-01 -2.12140513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94719347 meters Centerline goodness [0,1] 0.8103751465416178 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.49, Z:-2.12 [[ 9.99262559e-01 -3.66579618e-02 -1.14250883e-02 7.02802169e+00] [ 3.66740004e-02 9.99326565e-01 1.19739782e-03 -4.94813773e-01] [ 1.13735000e-02 -1.61551850e-03 9.99934015e-01 -2.12298425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97719347 meters Centerline goodness [0,1] 0.7778080469404862 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.50, Z:-2.12 [[ 9.99241296e-01 -3.71150909e-02 -1.18026621e-02 7.02892634e+00] [ 3.71369319e-02 9.99308846e-01 1.63668997e-03 -4.97108101e-01] [ 1.17337587e-02 -2.07376287e-03 9.99929007e-01 -2.12302061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00719347 meters Centerline goodness [0,1] 0.7785964615969261 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.50, Z:-2.12 [[ 9.99246147e-01 -3.68686108e-02 -1.21591113e-02 7.02991091e+00] [ 3.68917433e-02 9.99317850e-01 1.68363538e-03 -4.96302325e-01] [ 1.20887437e-02 -2.13093698e-03 9.99924658e-01 -2.12338581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03719347 meters Centerline goodness [0,1] 0.8183354457118716 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.50, Z:-2.13 [[ 9.99331064e-01 -3.42268992e-02 -1.28818926e-02 7.03257103e+00] [ 3.42879868e-02 9.99401630e-01 4.55147316e-03 -4.96260217e-01] [ 1.27184016e-02 -4.99012268e-03 9.99906666e-01 -2.12511208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06719347 meters Centerline goodness [0,1] 0.8373030104850109 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.50, Z:-2.13 [[ 9.99372707e-01 -3.26218671e-02 -1.37842408e-02 7.03582182e+00] [ 3.27052141e-02 9.99447833e-01 5.86495759e-03 -4.95636491e-01] [ 1.35853037e-02 -6.31209509e-03 9.99887792e-01 -2.12706401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09719347 meters Centerline goodness [0,1] 0.79856220657277 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.49, Z:-2.13 [[ 9.99398522e-01 -3.13918235e-02 -1.47359006e-02 7.03861397e+00] [ 3.14928029e-02 9.99481714e-01 6.67126731e-03 -4.94885957e-01] [ 1.45188399e-02 -7.13132950e-03 9.99869165e-01 -2.12828215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12719347 meters Centerline goodness [0,1] 0.8546334280004207 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.49, Z:-2.13 [[ 9.99418214e-01 -3.06094414e-02 -1.50431199e-02 7.03856592e+00] [ 3.07118669e-02 9.99506320e-01 6.62555555e-03 -4.92835417e-01] [ 1.48328889e-02 -7.08370320e-03 9.99864894e-01 -2.12741901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15719347 meters Centerline goodness [0,1] 0.8687206683923648 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.49, Z:-2.13 [[ 9.99420411e-01 -3.03610199e-02 -1.53964610e-02 7.03913544e+00] [ 3.04626967e-02 9.99515332e-01 6.41289947e-03 -4.91099005e-01] [ 1.51942967e-02 -6.87820034e-03 9.99860902e-01 -2.12721499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18719347 meters Centerline goodness [0,1] 0.8780631703154301 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.49, Z:-2.13 [[ 9.99430855e-01 -2.97764209e-02 -1.58534143e-02 7.04034598e+00] [ 2.98806246e-02 9.99533131e-01 6.37711456e-03 -4.88736637e-01] [ 1.56561252e-02 -6.84719498e-03 9.99853990e-01 -2.12765037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21719346999998 meters Centerline goodness [0,1] 0.8964052974563801 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.49, Z:-2.13 [[ 0.99959021 -0.02314065 -0.01685006 7.04363182] [ 0.02335045 0.99965091 0.0123621 -0.48588442] [ 0.01655811 -0.01275049 0.9997816 -2.12989581] [ 0. 0. 0. 1. ]] SLAMing on 171.24719346999998 meters Centerline goodness [0,1] 0.9046021396467684 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.48, Z:-2.13 [[ 0.99963575 -0.0205447 -0.01750101 7.04607588] [ 0.02079905 0.99967885 0.01447764 -0.48448824] [ 0.01719795 -0.01483637 0.99974202 -2.1313665 ] [ 0. 0. 0. 1. ]] SLAMing on 171.27719347 meters Centerline goodness [0,1] 0.9050647621864898 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.48, Z:-2.13 [[ 9.99717314e-01 -1.67801330e-02 -1.68439581e-02 7.05509531e+00] [ 1.68921301e-02 9.99836001e-01 6.52898486e-03 -4.82320253e-01] [ 1.67316384e-02 -6.81166954e-03 9.99836813e-01 -2.13000440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30719347 meters Centerline goodness [0,1] 0.9102704755474914 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.48, Z:-2.13 [[ 9.99817847e-01 -1.17277743e-02 -1.50576562e-02 7.06371751e+00] [ 1.17317329e-02 9.99931166e-01 1.74589159e-04 -4.81169645e-01] [ 1.50545721e-02 -3.51209758e-04 9.99886612e-01 -2.12921322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33719347 meters Centerline goodness [0,1] 0.9056465000945636 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.48, Z:-2.13 [[ 9.99945822e-01 -3.17138146e-03 -9.91439069e-03 7.07038818e+00] [ 3.14620277e-03 9.99991789e-01 -2.55417665e-03 -4.78008122e-01] [ 9.92240955e-03 2.52284559e-03 9.99947589e-01 -2.12930725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36719347 meters Centerline goodness [0,1] 0.9104386334879797 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.48, Z:-2.13 [[ 9.99952878e-01 -4.63360471e-04 -9.69676165e-03 7.06860501e+00] [ 4.64333605e-04 9.99999887e-01 9.81055750e-05 -4.76866266e-01] [ 9.69671510e-03 -1.02603484e-04 9.99952980e-01 -2.12748301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39719347 meters Centerline goodness [0,1] 0.9121177088807146 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.48, Z:-2.13 [[ 9.99950568e-01 1.04616248e-04 -9.94234521e-03 7.06884183e+00] [-1.03501449e-04 9.99999988e-01 1.12640874e-04 -4.75116466e-01] [ 9.94235688e-03 -1.11606259e-04 9.99950567e-01 -2.12693988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42719347 meters Centerline goodness [0,1] 0.9118019234013834 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.47, Z:-2.13 [[ 9.99952822e-01 1.03470618e-03 -9.65830350e-03 7.06701318e+00] [-1.02814015e-03 9.99999237e-01 6.84772618e-04 -4.74701734e-01] [ 9.65900467e-03 -6.74810222e-04 9.99953123e-01 -2.12508790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45719347 meters Centerline goodness [0,1] 0.9102821091722406 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.48, Z:-2.12 [[ 9.99959728e-01 1.83520701e-03 -8.78487021e-03 7.06272180e+00] [-1.82228997e-03 9.99997247e-01 1.47815202e-03 -4.77565208e-01] [ 8.78755874e-03 -1.46208391e-03 9.99960320e-01 -2.12126978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48719347 meters Centerline goodness [0,1] 0.9116034911666737 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.48, Z:-2.12 [[ 9.99957162e-01 2.18666021e-03 -8.99399355e-03 7.06267742e+00] [-2.16688950e-03 9.99995216e-01 2.20736932e-03 -4.80752093e-01] [ 8.99877729e-03 -2.18778578e-03 9.99957117e-01 -2.12050382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51719347 meters Centerline goodness [0,1] 0.9146887688894471 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.48, Z:-2.12 [[ 9.99982477e-01 5.16004400e-03 -2.90170038e-03 7.07443458e+00] [-5.16940779e-03 9.99981426e-01 -3.22881556e-03 -4.83121004e-01] [ 2.88498565e-03 3.24375905e-03 9.99990577e-01 -2.12434300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54719347 meters Centerline goodness [0,1] 0.917261115670307 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.49, Z:-2.13 [[ 9.99958876e-01 8.47160251e-03 -3.23700088e-03 7.07665138e+00] [-8.47101202e-03 9.99964101e-01 1.96084393e-04 -4.88143696e-01] [ 3.23854582e-03 -1.68655655e-04 9.99994742e-01 -2.12642470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57719347 meters Centerline goodness [0,1] 0.9233738984473353 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.49, Z:-2.13 [[ 9.99940042e-01 1.02413245e-02 -3.87643629e-03 7.07995419e+00] [-1.02332272e-02 9.99945428e-01 2.10296297e-03 -4.90670932e-01] [ 3.89776187e-03 -2.06316842e-03 9.99990275e-01 -2.12904053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60719347 meters Centerline goodness [0,1] 0.924350179369375 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.49, Z:-2.13 [[ 9.99929569e-01 1.08862203e-02 -4.72720746e-03 7.08441045e+00] [-1.08716620e-02 9.99936113e-01 3.09454138e-03 -4.94097441e-01] [ 4.76059332e-03 -3.04293083e-03 9.99984039e-01 -2.13257223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63719347 meters Centerline goodness [0,1] 0.9225064261935865 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.50, Z:-2.14 [[ 9.99938461e-01 9.56711397e-03 -5.61650337e-03 7.08823881e+00] [-9.55606381e-03 9.99952358e-01 1.99099549e-03 -4.98630910e-01] [ 5.63528387e-03 -1.93720130e-03 9.99982245e-01 -2.13543458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66719347 meters Centerline goodness [0,1] 0.917717528373266 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.51, Z:-2.14 [[ 9.99962912e-01 5.86669156e-03 -6.30532193e-03 7.09155229e+00] [-5.86813676e-03 9.99982760e-01 -2.10726439e-04 -5.11219152e-01] [ 6.30397696e-03 2.47719115e-04 9.99980099e-01 -2.13798150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69719347 meters Centerline goodness [0,1] 0.9159147790607188 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.52, Z:-2.14 [[ 9.99974444e-01 2.97174099e-03 -6.50233749e-03 7.09222558e+00] [-2.98413075e-03 9.99993749e-01 -1.89655917e-03 -5.17512851e-01] [ 6.49666076e-03 1.91591453e-03 9.99977061e-01 -2.13822154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72719347 meters Centerline goodness [0,1] 0.9121900826446281 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.52, Z:-2.14 [[ 9.99976806e-01 2.16682156e-04 -6.80734249e-03 7.09309902e+00] [-2.40169829e-04 9.99994021e-01 -3.44971602e-03 -5.23708137e-01] [ 6.80655430e-03 3.45127093e-03 9.99970879e-01 -2.13844115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75719347 meters Centerline goodness [0,1] 0.9114065396932411 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.53, Z:-2.14 [[ 9.99970476e-01 -2.42742841e-03 -7.29079316e-03 7.09462708e+00] [ 2.39138990e-03 9.99984901e-01 -4.94767302e-03 -5.29735995e-01] [ 7.30269320e-03 4.93009181e-03 9.99961182e-01 -2.13902399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78719347 meters Centerline goodness [0,1] 0.9073910482921084 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.54, Z:-2.14 [[ 0.99993344 -0.00857255 -0.00772132 7.09592646] [ 0.00850704 0.99992788 -0.00847683 -0.5421319 ] [ 0.00779343 0.00841058 0.99993426 -2.13913985] [ 0. 0. 0. 1. ]] SLAMing on 171.81719347 meters Centerline goodness [0,1] 0.9044482087960348 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.55, Z:-2.14 [[ 9.99917248e-01 -1.25289177e-02 -2.91957136e-03 7.10654656e+00] [ 1.25234582e-02 9.99919810e-01 -1.88080694e-03 -5.51168495e-01] [ 2.94290172e-03 1.84408817e-03 9.99993969e-01 -2.14137867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84719347 meters Centerline goodness [0,1] 0.9037046408164126 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.56, Z:-2.14 [[ 9.99862899e-01 -1.62706138e-02 -3.07423365e-03 7.10678135e+00] [ 1.62580870e-02 9.99859599e-01 -4.05674786e-03 -5.57619420e-01] [ 3.13980780e-03 4.00621052e-03 9.99987046e-01 -2.14072491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87719347 meters Centerline goodness [0,1] 0.9064310301402065 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.57, Z:-2.14 [[ 9.99710873e-01 -2.39151271e-02 -2.49725551e-03 7.10485295e+00] [ 2.38928781e-02 9.99677632e-01 -8.58846844e-03 -5.66767036e-01] [ 2.70184479e-03 8.52631866e-03 9.99960000e-01 -2.13788479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90719347 meters Centerline goodness [0,1] 0.9093793335294365 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.57, Z:-2.14 [[ 9.99608753e-01 -2.78431062e-02 -2.66499448e-03 7.10536688e+00] [ 2.78103331e-02 9.99545534e-01 -1.16323390e-02 -5.69520121e-01] [ 2.98766378e-03 1.15536735e-02 9.99928791e-01 -2.13760060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93719347 meters Centerline goodness [0,1] 0.9055654543548894 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.57, Z:-2.14 [[ 9.99487349e-01 -3.18794805e-02 -2.95587893e-03 7.10647549e+00] [ 3.18320328e-02 9.99382045e-01 -1.49080242e-02 -5.71741254e-01] [ 3.42931240e-03 1.48062900e-02 9.99884500e-01 -2.13778086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96719346999998 meters Centerline goodness [0,1] 0.8969356999330208 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.58, Z:-2.14 [[ 9.99460695e-01 -3.26688119e-02 -3.32690036e-03 7.10756699e+00] [ 3.26181734e-02 9.99365848e-01 -1.42813382e-02 -5.75859842e-01] [ 3.79134495e-03 1.41651187e-02 9.99892482e-01 -2.13778455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99719346999998 meters Centerline goodness [0,1] 0.8853153932134045 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.58, Z:-2.14 [[ 9.99443605e-01 -3.31583621e-02 -3.60598026e-03 7.10811691e+00] [ 3.31071458e-02 9.99361442e-01 -1.34397222e-02 -5.80152457e-01] [ 4.04931680e-03 1.33128607e-02 9.99903181e-01 -2.13735803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02719347 meters Centerline goodness [0,1] 0.833804123276698 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.58, Z:-2.14 [[ 9.99302270e-01 -3.71886853e-02 -3.46060921e-03 7.10770225e+00] [ 3.71278788e-02 9.99178702e-01 -1.62308985e-02 -5.84688301e-01] [ 4.06137280e-03 1.60910887e-02 9.99862282e-01 -2.13637282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05719347 meters Centerline goodness [0,1] 0.8876565596929954 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.59, Z:-2.14 [[ 9.99291436e-01 -3.74328645e-02 -3.92504806e-03 7.10893270e+00] [ 3.73652217e-02 9.99172222e-01 -1.60844851e-02 -5.85182010e-01] [ 4.52388734e-03 1.59264279e-02 9.99862932e-01 -2.13660264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08719347 meters Centerline goodness [0,1] 0.8857985051058006 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.59, Z:-2.14 [[ 9.99411740e-01 -3.39987025e-02 -4.50126314e-03 7.11004048e+00] [ 3.39433637e-02 9.99353537e-01 -1.18472077e-02 -5.86449818e-01] [ 4.90114293e-03 1.16874505e-02 9.99919688e-01 -2.13658072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11719347 meters Centerline goodness [0,1] 0.8967765073203662 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.59, Z:-2.14 [[ 9.99637775e-01 -2.64925625e-02 -4.73959761e-03 7.10961001e+00] [ 2.64754376e-02 9.99642836e-01 -3.64014595e-03 -5.86778033e-01] [ 4.83434159e-03 3.51334448e-03 9.99982143e-01 -2.13545515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14719347 meters Centerline goodness [0,1] 0.9077713876424613 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.59, Z:-2.13 [[ 9.99728837e-01 -2.26326545e-02 -5.47866813e-03 7.11061729e+00] [ 2.26340745e-02 9.99743797e-01 1.97318272e-04 -5.85657286e-01] [ 5.47279864e-03 -3.21269349e-04 9.99984973e-01 -2.13496369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17719347 meters Centerline goodness [0,1] 0.9119276879964603 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.58, Z:-2.13 [[ 9.99805158e-01 -1.87894221e-02 -6.05003708e-03 7.11115389e+00] [ 1.88123585e-02 9.99815974e-01 3.75678137e-03 -5.83976091e-01] [ 5.97833597e-03 -3.86986485e-03 9.99974642e-01 -2.13418444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20719347 meters Centerline goodness [0,1] 0.916242851414945 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.58, Z:-2.13 [[ 9.99854158e-01 -1.32389460e-02 -1.07885301e-02 7.11897202e+00] [ 1.32513565e-02 9.99911614e-01 1.07966825e-03 -5.82210887e-01] [ 1.07732829e-02 -1.22247345e-03 9.99941219e-01 -2.12940096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23719347 meters Centerline goodness [0,1] 0.9149980080934309 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.58, Z:-2.13 [[ 9.99961330e-01 -4.04629279e-03 -7.80804602e-03 7.13016991e+00] [ 4.03129212e-03 9.99990000e-01 -1.93596473e-03 -5.79846053e-01] [ 7.81580142e-03 1.90441335e-03 9.99967643e-01 -2.13210069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26719347 meters Centerline goodness [0,1] 0.9024523389602754 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.58, Z:-2.13 [[ 9.99964711e-01 -8.45093680e-04 -8.35832943e-03 7.13264984e+00] [ 8.54170077e-04 9.99999049e-01 1.08240018e-03 -5.79030987e-01] [ 8.35740676e-03 -1.08950142e-03 9.99964483e-01 -2.13383582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29719347 meters Centerline goodness [0,1] 0.9106965751545717 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.58, Z:-2.13 [[ 9.99962789e-01 -1.63943529e-04 -8.62515334e-03 7.13352440e+00] [ 1.72359795e-04 9.99999510e-01 9.75047278e-04 -5.76806741e-01] [ 8.62498925e-03 -9.76497625e-04 9.99962327e-01 -2.13445153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32719347 meters Centerline goodness [0,1] 0.9095669432655561 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.57, Z:-2.14 [[ 9.99951767e-01 3.81884999e-03 -9.04877919e-03 7.13504779e+00] [-3.78153019e-03 9.99984289e-01 4.13781733e-03 -5.73783093e-01] [ 9.06443873e-03 -4.10339952e-03 9.99950498e-01 -2.13552248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35719347 meters Centerline goodness [0,1] 0.9104502723506278 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.57, Z:-2.14 [[ 9.99945967e-01 3.93153619e-03 -9.62317625e-03 7.13695303e+00] [-3.89681640e-03 9.99985841e-01 3.62402976e-03 -5.71501578e-01] [ 9.63728800e-03 -3.58633419e-03 9.99947129e-01 -2.13664527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38719347 meters Centerline goodness [0,1] 0.9104502723506278 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.57, Z:-2.14 [[ 9.99945967e-01 3.93153619e-03 -9.62317625e-03 7.13695303e+00] [-3.89681640e-03 9.99985841e-01 3.62402976e-03 -5.71501578e-01] [ 9.63728800e-03 -3.58633419e-03 9.99947129e-01 -2.13664527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41719347 meters Centerline goodness [0,1] 0.9070037595573016 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.57, Z:-2.14 [[ 9.99942020e-01 3.98892590e-03 -1.00022187e-02 7.13815647e+00] [-3.95527616e-03 9.99986460e-01 3.38175526e-03 -5.70373456e-01] [ 1.00155729e-02 -3.34199765e-03 9.99944258e-01 -2.13726030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44719347 meters Centerline goodness [0,1] 0.9073178968697891 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.57, Z:-2.14 [[ 9.99937432e-01 3.86121219e-03 -1.04987063e-02 7.13985638e+00] [-3.82648660e-03 9.99987149e-01 3.32568433e-03 -5.71029804e-01] [ 1.05114126e-02 -3.28530309e-03 9.99939357e-01 -2.13818342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47719347 meters Centerline goodness [0,1] 0.9042597706921082 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.57, Z:-2.14 [[ 9.99933336e-01 1.76021394e-03 -1.14115934e-02 7.14321794e+00] [-1.74460782e-03 9.99997530e-01 1.37737756e-03 -5.74277076e-01] [ 1.14139897e-02 -1.35737698e-03 9.99933937e-01 -2.14022310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50719347 meters Centerline goodness [0,1] 0.9023317759972941 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.58, Z:-2.14 [[ 9.99930682e-01 1.62893824e-03 -1.16609677e-02 7.14393480e+00] [-1.60862058e-03 9.99997172e-01 1.75153203e-03 -5.76247565e-01] [ 1.16637878e-02 -1.73265254e-03 9.99930475e-01 -2.14037493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53719347 meters Centerline goodness [0,1] 0.9014117298452812 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.58, Z:-2.14 [[ 9.99927972e-01 1.56526217e-03 -1.18996443e-02 7.14431994e+00] [-1.53964776e-03 9.99996479e-01 2.16139193e-03 -5.78065254e-01] [ 1.19029855e-02 -2.14291499e-03 9.99926861e-01 -2.14003829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56719347 meters Centerline goodness [0,1] 0.90150842945874 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.58, Z:-2.14 [[ 9.99924310e-01 1.53116441e-03 -1.22077906e-02 7.14483217e+00] [-1.50207914e-03 9.99996013e-01 2.39133000e-03 -5.79228690e-01] [ 1.22114034e-02 -2.37281194e-03 9.99922623e-01 -2.13968232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59719347 meters Centerline goodness [0,1] 0.9068957511028558 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.58, Z:-2.14 [[ 9.99923255e-01 2.52365623e-03 -1.21291245e-02 7.14343817e+00] [-2.47608910e-03 9.99989192e-01 3.93514642e-03 -5.83022254e-01] [ 1.21389244e-02 -3.90481163e-03 9.99918696e-01 -2.13766982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62719347 meters Centerline goodness [0,1] 0.9154831932773109 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.59, Z:-2.14 [[ 9.99989298e-01 7.34368482e-05 -4.62590784e-03 7.15432275e+00] [-3.58717123e-05 9.99967030e-01 8.12015715e-03 -5.86171113e-01] [ 4.62635164e-03 -8.11990430e-03 9.99956331e-01 -2.14101066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65719347 meters Centerline goodness [0,1] 0.9149652704693749 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.59, Z:-2.14 [[ 9.99984038e-01 -3.24259899e-03 -4.62695885e-03 7.15375821e+00] [ 3.26705266e-03 9.99980685e-01 5.28730698e-03 -5.88411961e-01] [ 4.60972486e-03 -5.30233911e-03 9.99975318e-01 -2.14002917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68719347 meters Centerline goodness [0,1] 0.9164629005059022 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.59, Z:-2.14 [[ 9.99965705e-01 -6.77959602e-03 -4.75660636e-03 7.15356566e+00] [ 6.79239831e-03 9.99973339e-01 2.68050365e-03 -5.91966660e-01] [ 4.73830681e-03 -2.71272049e-03 9.99985095e-01 -2.13912272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71719346999998 meters Centerline goodness [0,1] 0.9115402453935996 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.60, Z:-2.14 [[ 9.99881311e-01 -1.48762984e-02 -4.00737719e-03 7.15148853e+00] [ 1.48669618e-02 9.99886720e-01 -2.34965304e-03 -6.00487325e-01] [ 4.04187737e-03 2.28979664e-03 9.99989210e-01 -2.13642500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74719346999998 meters Centerline goodness [0,1] 0.9097386172006745 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.61, Z:-2.14 [[ 9.99807186e-01 -1.91417050e-02 -4.38017260e-03 7.15258038e+00] [ 1.91190667e-02 9.99803934e-01 -5.15314044e-03 -6.05081011e-01] [ 4.47795369e-03 5.06840204e-03 9.99977129e-01 -2.13637069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77719347 meters Centerline goodness [0,1] 0.9162324649298597 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.61, Z:-2.14 [[ 9.99710478e-01 -2.35699339e-02 -4.83928265e-03 7.15427736e+00] [ 2.35302395e-02 9.99690296e-01 -8.10187474e-03 -6.09681500e-01] [ 5.02874456e-03 7.98565959e-03 9.99955469e-01 -2.13690264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80719347 meters Centerline goodness [0,1] 0.9069156758119407 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.62, Z:-2.14 [[ 9.99445712e-01 -3.28819473e-02 -5.20054830e-03 7.15740249e+00] [ 3.27978191e-02 9.99341656e-01 -1.55099191e-02 -6.15084180e-01] [ 5.70712089e-03 1.53307555e-02 9.99866189e-01 -2.13921934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83719347 meters Centerline goodness [0,1] 0.8938211725010544 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.62, Z:-2.14 [[ 9.99381126e-01 -3.46972877e-02 -5.78480126e-03 7.16023175e+00] [ 3.45984821e-02 9.99266971e-01 -1.63849284e-02 -6.17679833e-01] [ 6.34907341e-03 1.61746428e-02 9.99849024e-01 -2.14097812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86719347 meters Centerline goodness [0,1] 0.8848274842063005 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.62, Z:-2.14 [[ 9.99360052e-01 -3.51960806e-02 -6.38142177e-03 7.16223697e+00] [ 3.50893082e-02 9.99253912e-01 -1.61356489e-02 -6.19648491e-01] [ 6.94457227e-03 1.59014033e-02 9.99849448e-01 -2.14190685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89719347 meters Centerline goodness [0,1] 0.8743588665601614 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.62, Z:-2.14 [[ 9.99348828e-01 -3.53820574e-02 -7.07317097e-03 7.16438523e+00] [ 3.52640032e-02 9.99247189e-01 -1.61711259e-02 -6.19874720e-01] [ 7.64001392e-03 1.59111674e-02 9.99844220e-01 -2.14291741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92719347 meters Centerline goodness [0,1] 0.8959745002427543 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.62, Z:-2.14 [[ 0.99959017 -0.02758606 -0.00764919 7.1654413 ] [ 0.02752157 0.99958582 -0.00841083 -0.61895222] [ 0.00787804 0.00819687 0.99993537 -2.14336329] [ 0. 0. 0. 1. ]] SLAMing on 172.95719347 meters Centerline goodness [0,1] 0.9018653003324089 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.62, Z:-2.14 [[ 9.99693266e-01 -2.33410803e-02 -8.28059754e-03 7.16654874e+00] [ 2.33043167e-02 9.99718250e-01 -4.50880063e-03 -6.17565473e-01] [ 8.38350476e-03 4.31444396e-03 9.99955550e-01 -2.14343887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98719347 meters Centerline goodness [0,1] 0.9048221744083027 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.62, Z:-2.14 [[ 9.99777515e-01 -1.58581060e-02 -1.39083329e-02 7.17624327e+00] [ 1.57997264e-02 9.99865942e-01 -4.29734247e-03 -6.17087700e-01] [ 1.39746161e-02 4.07663852e-03 9.99894040e-01 -2.14024227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01719347 meters Centerline goodness [0,1] 0.9039974686214535 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.61, Z:-2.14 [[ 0.99990534 -0.01047602 -0.00891995 7.18721809] [ 0.01039017 0.99989978 -0.00961671 -0.6138007 ] [ 0.0090198 0.00952312 0.99991397 -2.14302304] [ 0. 0. 0. 1. ]] SLAMing on 173.04719347 meters Centerline goodness [0,1] 0.911051891642361 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99998555e-01 -2.71348292e-04 -1.67791029e-03 7.19569990e+00] [ 2.57211763e-04 9.99964522e-01 -8.41956428e-03 -6.09309135e-01] [ 1.68013540e-03 8.41912054e-03 9.99963147e-01 -2.14361498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07719347 meters Centerline goodness [0,1] 0.9115471414242728 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99991647e-01 3.52879341e-03 -2.06224692e-03 7.19587751e+00] [-3.53824369e-03 9.99983174e-01 -4.59697436e-03 -6.08692236e-01] [ 2.04599045e-03 4.60423269e-03 9.99987307e-01 -2.14256783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10719347 meters Centerline goodness [0,1] 0.9118703147638746 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.61, Z:-2.14 [[ 9.99987140e-01 4.63506685e-03 -2.05819378e-03 7.19463097e+00] [-4.64303002e-03 9.99981689e-01 -3.88123327e-03 -6.07725996e-01] [ 2.04016631e-03 3.89073961e-03 9.99990350e-01 -2.14099417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13719347 meters Centerline goodness [0,1] 0.9135478962828343 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.61, Z:-2.14 [[ 9.99976585e-01 6.57627798e-03 -1.89241590e-03 7.19325850e+00] [-6.58105342e-03 9.99975148e-01 -2.52839283e-03 -6.06677061e-01] [ 1.87574146e-03 2.54078771e-03 9.99995013e-01 -2.13976146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16719347 meters Centerline goodness [0,1] 0.9174946733329115 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.61, Z:-2.14 [[ 9.99974754e-01 6.73502988e-03 -2.26498998e-03 7.19432304e+00] [-6.74136699e-03 9.99973351e-01 -2.80195645e-03 -6.05485499e-01] [ 2.24605836e-03 2.81715484e-03 9.99993509e-01 -2.14018882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19719347 meters Centerline goodness [0,1] 0.919128106434608 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99953782e-01 9.21054099e-03 -2.75668506e-03 7.19634170e+00] [-9.21113236e-03 9.99957556e-01 -2.01903120e-04 -6.05900353e-01] [ 2.75470842e-03 2.27285980e-04 9.99996180e-01 -2.14120056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22719347 meters Centerline goodness [0,1] 0.9219838689244542 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99945233e-01 1.01195901e-02 -2.66940347e-03 7.19577331e+00] [-1.01187576e-02 9.99948751e-01 3.25191235e-04 -6.05678371e-01] [ 2.67255746e-03 -2.98162379e-04 9.99996384e-01 -2.14063135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25719347 meters Centerline goodness [0,1] 0.9249191889509256 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99925793e-01 1.17761870e-02 -3.11929192e-03 7.19627602e+00] [-1.17734742e-02 9.99930297e-01 8.86619884e-04 -6.05117177e-01] [ 3.12951549e-03 -8.49829188e-04 9.99994742e-01 -2.14053184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28719347 meters Centerline goodness [0,1] 0.9258600485477526 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99922356e-01 1.19483046e-02 -3.53849750e-03 7.19760431e+00] [-1.19449308e-02 9.99928183e-01 9.73043002e-04 -6.05707174e-01] [ 3.54986960e-03 -9.30700343e-04 9.99993266e-01 -2.14120799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31719347 meters Centerline goodness [0,1] 0.9263006696098519 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99943582e-01 1.00471254e-02 -3.44802636e-03 7.19637826e+00] [-1.00506148e-02 9.99948995e-01 -9.96157171e-04 -6.06581512e-01] [ 3.43784198e-03 1.03075575e-03 9.99993559e-01 -2.14000029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34719347 meters Centerline goodness [0,1] 0.9272021812080536 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99950675e-01 9.05497713e-03 -4.08104779e-03 7.19832008e+00] [-9.06027260e-03 9.99958134e-01 -1.28096197e-03 -6.08911829e-01] [ 4.06927785e-03 1.31787419e-03 9.99990852e-01 -2.14063198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37719347 meters Centerline goodness [0,1] 0.9250450903905038 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.61, Z:-2.14 [[ 9.99978896e-01 5.17660431e-03 -3.92570742e-03 7.19773730e+00] [-5.19076717e-03 9.99980026e-01 -3.60615316e-03 -6.14324471e-01] [ 3.90696138e-03 3.62645449e-03 9.99985792e-01 -2.13977750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40719347 meters Centerline goodness [0,1] 0.9241296417350231 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.62, Z:-2.14 [[ 9.99990041e-01 1.21850567e-03 -4.29337629e-03 7.19857180e+00] [-1.24764415e-03 9.99976164e-01 -6.79071654e-03 -6.16768436e-01] [ 4.28499943e-03 6.79600552e-03 9.99967726e-01 -2.13982804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43719347 meters Centerline goodness [0,1] 0.9186913336553202 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.62, Z:-2.14 [[ 9.99983990e-01 -2.99602001e-03 -4.80037331e-03 7.20031868e+00] [ 2.94719614e-03 9.99944186e-01 -1.01458440e-02 -6.19560392e-01] [ 4.83050254e-03 1.01315339e-02 9.99937007e-01 -2.14068519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46719346999998 meters Centerline goodness [0,1] 0.9135443037974683 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.63, Z:-2.14 [[ 9.99891169e-01 -1.33825981e-02 -6.20936111e-03 7.19928849e+00] [ 1.33639441e-02 9.99906089e-01 -3.03601069e-03 -6.30716734e-01] [ 6.24940770e-03 2.95269872e-03 9.99976113e-01 -2.14210086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49719346999998 meters Centerline goodness [0,1] 0.9118230551686295 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.63, Z:-2.14 [[ 9.99821348e-01 -1.76350062e-02 -6.80281854e-03 7.20149374e+00] [ 1.75929342e-02 9.99826037e-01 -6.19554655e-03 -6.34255312e-01] [ 6.91089360e-03 6.07475816e-03 9.99957668e-01 -2.14312783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52719347 meters Centerline goodness [0,1] 0.9083735203857957 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.64, Z:-2.14 [[ 0.99968779 -0.02295357 -0.00987198 7.2088861 ] [ 0.02286643 0.99969934 -0.00885147 -0.63683491] [ 0.01007219 0.00862297 0.99991209 -2.14373154] [ 0. 0. 0. 1. ]] SLAMing on 173.55719347 meters Centerline goodness [0,1] 0.9002284843869002 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.64, Z:-2.14 [[ 9.99352071e-01 -3.23103159e-02 -1.58581746e-02 7.20231606e+00] [ 3.22440102e-02 9.99470257e-01 -4.41925599e-03 -6.42773110e-01] [ 1.59925614e-02 3.90506148e-03 9.99864485e-01 -2.14107627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58719347 meters Centerline goodness [0,1] 0.8871226853809081 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.65, Z:-2.14 [[ 9.99321402e-01 -3.29515375e-02 -1.64600018e-02 7.20408061e+00] [ 3.28896776e-02 9.99450924e-01 -4.01493466e-03 -6.45107833e-01] [ 1.65832623e-02 3.47084598e-03 9.99856464e-01 -2.14142306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61719347 meters Centerline goodness [0,1] 0.8747884582839736 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.65, Z:-2.14 [[ 9.99299115e-01 -3.33581606e-02 -1.69856388e-02 7.20541897e+00] [ 3.32990154e-02 9.99438387e-01 -3.75314426e-03 -6.46295847e-01] [ 1.71012974e-02 3.18490869e-03 9.99848690e-01 -2.14157773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64719347 meters Centerline goodness [0,1] 0.8424589714959867 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.65, Z:-2.14 [[ 9.99266003e-01 -3.39890551e-02 -1.76691671e-02 7.20714027e+00] [ 3.39239570e-02 9.99416527e-01 -3.97112738e-03 -6.46502412e-01] [ 1.77938325e-02 3.36880452e-03 9.99836002e-01 -2.14186186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67719347 meters Centerline goodness [0,1] 0.8529704121988876 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.65, Z:-2.14 [[ 9.99249226e-01 -3.42655685e-02 -1.80791553e-02 7.20807853e+00] [ 3.41998543e-02 9.99407280e-01 -3.93163829e-03 -6.46751645e-01] [ 1.82031592e-02 3.31038205e-03 9.99828829e-01 -2.14184004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70719347 meters Centerline goodness [0,1] 0.8471162584272037 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.65, Z:-2.14 [[ 9.99219453e-01 -3.48437908e-02 -1.86117082e-02 7.20835706e+00] [ 3.47632226e-02 9.99384828e-01 -4.63512685e-03 -6.45811265e-01] [ 1.87617642e-02 3.98450596e-03 9.99816043e-01 -2.14064638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73719347 meters Centerline goodness [0,1] 0.8413898867670847 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.64, Z:-2.14 [[ 0.9994181 -0.03159158 -0.01286178 7.22120613] [ 0.03147324 0.99946131 -0.00930173 -0.6437399 ] [ 0.01314871 0.00889151 0.99987402 -2.14350534] [ 0. 0. 0. 1. ]] SLAMing on 173.76719347 meters Centerline goodness [0,1] 0.8629362366544289 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.64, Z:-2.14 [[ 9.99528544e-01 -2.77026357e-02 -1.32383553e-02 7.22128925e+00] [ 2.76348393e-02 9.99604156e-01 -5.27702699e-03 -6.43387575e-01] [ 1.33793026e-02 4.90869928e-03 9.99898444e-01 -2.14271054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79719347 meters Centerline goodness [0,1] 0.8969661316076981 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.64, Z:-2.15 [[ 9.99791986e-01 -1.89470873e-02 -7.54935090e-03 7.23328966e+00] [ 1.89020976e-02 9.99803415e-01 -5.98685482e-03 -6.37085166e-01] [ 7.66130027e-03 5.84291090e-03 9.99953581e-01 -2.14550121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82719347 meters Centerline goodness [0,1] 0.9094861243009391 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.63, Z:-2.14 [[ 9.99863322e-01 -1.45593508e-02 -7.83344158e-03 7.23317048e+00] [ 1.45421004e-02 9.99891716e-01 -2.25461673e-03 -6.34224068e-01] [ 7.86541911e-03 2.14039388e-03 9.99966776e-01 -2.14483018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85719347 meters Centerline goodness [0,1] 0.9146148067773976 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.63, Z:-2.15 [[ 9.99963863e-01 -8.04960167e-03 -2.73419002e-03 7.24644194e+00] [ 8.03684811e-03 9.99956921e-01 -4.64386535e-03 -6.30870616e-01] [ 2.77145350e-03 4.62172327e-03 9.99985479e-01 -2.14791356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88719347 meters Centerline goodness [0,1] 0.9148792433710522 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.63, Z:-2.15 [[ 9.99994872e-01 -2.08867588e-03 -2.42769141e-03 7.24369468e+00] [ 2.08914348e-03 9.99997800e-01 1.90088542e-04 -6.27907464e-01] [ 2.42728904e-03 -1.95159363e-04 9.99997035e-01 -2.14524873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91719347 meters Centerline goodness [0,1] 0.916094632323614 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.63, Z:-2.15 [[ 9.99994872e-01 1.19952058e-03 -2.96941844e-03 7.24498927e+00] [-1.18942774e-03 9.99993518e-01 3.39836269e-03 -6.26688398e-01] [ 2.97347560e-03 -3.39481336e-03 9.99989817e-01 -2.14543370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94719347 meters Centerline goodness [0,1] 0.9160582401350496 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.14 [[ 9.99993757e-01 1.53577052e-03 -3.18247205e-03 7.24500597e+00] [-1.52664252e-03 9.99994720e-01 2.86866020e-03 -6.23947286e-01] [ 3.18686085e-03 -2.86378379e-03 9.99990821e-01 -2.14499402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97719347 meters Centerline goodness [0,1] 0.9143199143199143 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.15 [[ 9.99992002e-01 1.43709957e-03 -3.73236571e-03 7.24618044e+00] [-1.42856079e-03 9.99996359e-01 2.28942413e-03 -6.22442621e-01] [ 3.73564225e-03 -2.28407391e-03 9.99990414e-01 -2.14515865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00719347 meters Centerline goodness [0,1] 0.9151815878378379 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.14 [[ 9.99991721e-01 1.50130400e-03 -3.78206098e-03 7.24586249e+00] [-1.49241654e-03 9.99996121e-01 2.35162610e-03 -6.22910604e-01] [ 3.78557682e-03 -2.34596222e-03 9.99990083e-01 -2.14456581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03719347 meters Centerline goodness [0,1] 0.9157461189143521 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.15 [[ 9.99991869e-01 7.28170028e-04 -3.96639254e-03 7.24675605e+00] [-7.21600484e-04 9.99998366e-01 1.65748127e-03 -6.21874332e-01] [ 3.96759299e-03 -1.65460564e-03 9.99990760e-01 -2.14515918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06719347 meters Centerline goodness [0,1] 0.9159736586601376 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.15 [[ 9.99991043e-01 -1.05721881e-04 -4.23114438e-03 7.24795932e+00] [ 1.10253650e-04 9.99999421e-01 1.07083137e-03 -6.20997412e-01] [ 4.23102872e-03 -1.07128828e-03 9.99990475e-01 -2.14588772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09719347 meters Centerline goodness [0,1] 0.9141057934508816 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.15 [[ 9.99986446e-01 -1.57452492e-03 -4.96273336e-03 7.25083585e+00] [ 1.57513622e-03 9.99998752e-01 1.19272469e-04 -6.21020330e-01] [ 4.96253938e-03 -1.27087833e-04 9.99987678e-01 -2.14760344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12719347 meters Centerline goodness [0,1] 0.9140118648003884 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.15 [[ 9.99965333e-01 -6.19351761e-03 -5.56527069e-03 7.25318288e+00] [ 6.17102222e-03 9.99972757e-01 -4.05022202e-03 -6.21913488e-01] [ 5.59020419e-03 4.01573820e-03 9.99976311e-01 -2.14919900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15719347 meters Centerline goodness [0,1] 0.9076519938293781 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.62, Z:-2.15 [[ 9.99959744e-01 -6.59626079e-03 -6.08270447e-03 7.25467365e+00] [ 6.57258363e-03 9.99970778e-01 -3.90434638e-03 -6.23169954e-01] [ 6.10828081e-03 3.86421013e-03 9.99973878e-01 -2.14971370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18719347 meters Centerline goodness [0,1] 0.9111078305249172 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.62, Z:-2.15 [[ 9.99954512e-01 -7.00896213e-03 -6.46908277e-03 7.25589945e+00] [ 6.98352629e-03 9.99967829e-01 -3.94615696e-03 -6.23795431e-01] [ 6.49653312e-03 3.90080045e-03 9.99971289e-01 -2.15019011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21719346999998 meters Centerline goodness [0,1] 0.9101395075216405 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.62, Z:-2.15 [[ 9.99948009e-01 -7.52394536e-03 -6.88253817e-03 7.25694123e+00] [ 7.49491830e-03 9.99962951e-01 -4.23360919e-03 -6.23374934e-01] [ 6.91413662e-03 4.18180501e-03 9.99967353e-01 -2.15031646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24719346999998 meters Centerline goodness [0,1] 0.9130544886675389 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.62, Z:-2.15 [[ 9.99942407e-01 -8.10892107e-03 -7.03048946e-03 7.25692405e+00] [ 8.07165969e-03 9.99953313e-01 -5.31224294e-03 -6.19593397e-01] [ 7.07323779e-03 5.25518928e-03 9.99961175e-01 -2.14984321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27719347 meters Centerline goodness [0,1] 0.9130544886675389 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.62, Z:-2.15 [[ 9.99942407e-01 -8.10892107e-03 -7.03048946e-03 7.25692405e+00] [ 8.07165969e-03 9.99953313e-01 -5.31224294e-03 -6.19593397e-01] [ 7.07323779e-03 5.25518928e-03 9.99961175e-01 -2.14984321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30719347 meters Centerline goodness [0,1] 0.9111651511947557 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.62, Z:-2.15 [[ 9.99960848e-01 -4.84520721e-03 -7.40445600e-03 7.25765435e+00] [ 4.83360292e-03 9.99987063e-01 -1.58429633e-03 -6.19621485e-01] [ 7.41203646e-03 1.54844411e-03 9.99971332e-01 -2.14965652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33719347 meters Centerline goodness [0,1] 0.9070311846835549 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.62, Z:-2.15 [[ 9.99990614e-01 -2.44515345e-03 -3.57682121e-03 7.27332580e+00] [ 2.42073540e-03 9.99973846e-01 -6.81521918e-03 -6.17513245e-01] [ 3.59339191e-03 6.80649667e-03 9.99970379e-01 -2.15332458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36719347 meters Centerline goodness [0,1] 0.9066784795173607 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.62, Z:-2.15 [[ 9.99989411e-01 -2.35529644e-03 -3.95355514e-03 7.27412870e+00] [ 2.32779987e-03 9.99973173e-01 -6.94514913e-03 -6.16892105e-01] [ 3.96980696e-03 6.93587250e-03 9.99968067e-01 -2.15340807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39719347 meters Centerline goodness [0,1] 0.9085221508285425 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.62, Z:-2.15 [[ 9.99990800e-01 1.43749664e-03 -4.04150783e-03 7.27428922e+00] [-1.45093255e-03 9.99993424e-01 -3.32351518e-03 -6.16096955e-01] [ 4.03670372e-03 3.32934856e-03 9.99986310e-01 -2.15327890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42719347 meters Centerline goodness [0,1] 0.9095093319820962 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.61, Z:-2.15 [[ 9.99988906e-01 1.59277068e-03 -4.43293861e-03 7.27527948e+00] [-1.60967831e-03 9.99991434e-01 -3.81313966e-03 -6.12869160e-01] [ 4.42682719e-03 3.82023296e-03 9.99982904e-01 -2.15365732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45719347 meters Centerline goodness [0,1] 0.9087666722944454 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.61, Z:-2.15 [[ 9.99987313e-01 2.03538767e-03 -4.60778857e-03 7.27543385e+00] [-2.05348564e-03 9.99990183e-01 -3.92637259e-03 -6.09727490e-01] [ 4.59975165e-03 3.93578480e-03 9.99981676e-01 -2.15339669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48719347 meters Centerline goodness [0,1] 0.9080749516847324 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.61, Z:-2.15 [[ 9.99975390e-01 4.46397268e-03 -5.41222702e-03 7.27787789e+00] [-4.47141193e-03 9.99989074e-01 -1.36320650e-03 -6.08480556e-01] [ 5.40608257e-03 1.38737325e-03 9.99984425e-01 -2.15430004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51719347 meters Centerline goodness [0,1] 0.91044240312533 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.61, Z:-2.15 [[ 9.99966124e-01 6.43162470e-03 -5.13667156e-03 7.27541053e+00] [-6.43394092e-03 9.99979208e-01 -4.34522035e-04 -6.07128665e-01] [ 5.13377007e-03 4.67556356e-04 9.99986713e-01 -2.15181191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54719347 meters Centerline goodness [0,1] 0.9090391429053484 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.61, Z:-2.15 [[ 9.99963112e-01 6.60861779e-03 -5.48650475e-03 7.27578957e+00] [-6.61334825e-03 9.99977775e-01 -8.44504117e-04 -6.05559442e-01] [ 5.48080180e-03 8.80757131e-04 9.99984592e-01 -2.15138073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57719347 meters Centerline goodness [0,1] 0.9094111938566697 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99960946e-01 6.73786317e-03 -5.71909887e-03 7.27599162e+00] [-6.74671337e-03 9.99976071e-01 -1.52960297e-03 -6.02939839e-01] [ 5.70865576e-03 1.56812836e-03 9.99982476e-01 -2.15109655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60719347 meters Centerline goodness [0,1] 0.9091504649196956 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99960507e-01 6.73581717e-03 -5.79777516e-03 7.27632667e+00] [-6.74943399e-03 9.99974502e-01 -2.33227474e-03 -5.99576107e-01] [ 5.78191756e-03 2.37131433e-03 9.99980473e-01 -2.15135928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63719347 meters Centerline goodness [0,1] 0.9064639422067285 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99939295e-01 8.78942990e-03 -6.64468609e-03 7.27959256e+00] [-8.79159413e-03 9.99961309e-01 -2.96569209e-04 -5.98483365e-01] [ 6.64182233e-03 3.54968589e-04 9.99977880e-01 -2.15324673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66719347 meters Centerline goodness [0,1] 0.9068848877030065 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99942199e-01 8.14245183e-03 -7.02137168e-03 7.28067709e+00] [-8.14908063e-03 9.99966376e-01 -9.15997617e-04 -5.98084214e-01] [ 7.01367713e-03 9.73162395e-04 9.99974930e-01 -2.15375444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69719347 meters Centerline goodness [0,1] 0.9009793025352821 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.16 [[ 9.99951808e-01 6.33612172e-03 -7.49900887e-03 7.28283145e+00] [-6.35343863e-03 9.99977200e-01 -2.28766085e-03 -5.98144229e-01] [ 7.48434300e-03 2.33519509e-03 9.99969265e-01 -2.15509576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72719347 meters Centerline goodness [0,1] 0.9014256020491718 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.16 [[ 9.99972819e-01 5.81831389e-04 -7.34995013e-03 7.28300794e+00] [-6.34329808e-04 9.99974292e-01 -7.14237989e-03 -5.98025861e-01] [ 7.34560551e-03 7.14684804e-03 9.99947481e-01 -2.15532708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75719347 meters Centerline goodness [0,1] 0.9067777055232741 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99971012e-01 -3.91007777e-04 -7.60414286e-03 7.28350890e+00] [ 3.35612234e-04 9.99973409e-01 -7.28482812e-03 -5.98857340e-01] [ 7.60678908e-03 7.28206491e-03 9.99944553e-01 -2.15499320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78719347 meters Centerline goodness [0,1] 0.9019992822006883 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99968212e-01 -1.30274482e-03 -7.86626712e-03 7.28399040e+00] [ 1.24255863e-03 9.99969957e-01 -7.65122101e-03 -5.98960098e-01] [ 7.87599838e-03 7.64120349e-03 9.99939789e-01 -2.15465005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81719347 meters Centerline goodness [0,1] 0.9092749588763761 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99964217e-01 -1.75129026e-03 -8.27629739e-03 7.28466314e+00] [ 1.68619826e-03 9.99967646e-01 -7.86531358e-03 -5.98800503e-01] [ 8.28980407e-03 7.85107666e-03 9.99934818e-01 -2.15432846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84719347 meters Centerline goodness [0,1] 0.9091214020670426 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99960802e-01 -2.18072662e-03 -8.58136236e-03 7.28450794e+00] [ 2.10961354e-03 9.99963435e-01 -8.28726706e-03 -5.97879787e-01] [ 8.59912084e-03 8.26883886e-03 9.99928838e-01 -2.15302113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87719347 meters Centerline goodness [0,1] 0.912114264077915 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99960383e-01 -2.18531784e-03 -8.62880514e-03 7.28402923e+00] [ 2.11241520e-03 9.99962077e-01 -8.44884683e-03 -5.96999671e-01] [ 8.64694133e-03 8.43028450e-03 9.99927078e-01 -2.15217147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90719347 meters Centerline goodness [0,1] 0.9139238905980025 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.60, Z:-2.15 [[ 9.99962255e-01 1.24579941e-03 -8.59859529e-03 7.28385566e+00] [-1.28669193e-03 9.99987882e-01 -4.75182941e-03 -5.96563965e-01] [ 8.59257127e-03 4.76271380e-03 9.99951741e-01 -2.15165557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93719347 meters Centerline goodness [0,1] 0.913275894597824 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.59, Z:-2.15 [[ 9.99950884e-01 3.47128382e-03 -9.28326696e-03 7.28649939e+00] [-3.49620952e-03 9.99990323e-01 -2.67013486e-03 -5.93721220e-01] [ 9.27390833e-03 2.70245996e-03 9.99953345e-01 -2.15315043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96719346999998 meters Centerline goodness [0,1] 0.909789678182279 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.59, Z:-2.15 [[ 9.99929204e-01 6.77435753e-03 -9.78240330e-03 7.28864498e+00] [-6.77733610e-03 9.99976997e-01 -2.71364611e-04 -5.89498671e-01] [ 9.78033995e-03 3.37644034e-04 9.99952114e-01 -2.15485643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99719346999998 meters Centerline goodness [0,1] 0.9072928759894459 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.59, Z:-2.16 [[ 9.99925223e-01 6.37366614e-03 -1.04367250e-02 7.29089991e+00] [-6.38577267e-03 9.99978976e-01 -1.12708016e-03 -5.87938876e-01] [ 1.04293219e-02 1.19364243e-03 9.99944901e-01 -2.15624633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02719347 meters Centerline goodness [0,1] 0.9076286668206539 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.59, Z:-2.16 [[ 9.99918918e-01 6.10875700e-03 -1.11731792e-02 7.29346646e+00] [-6.12966405e-03 9.99979524e-01 -1.83789444e-03 -5.86476157e-01] [ 1.11617232e-02 1.90623325e-03 9.99935889e-01 -2.15780951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05719347 meters Centerline goodness [0,1] 0.9052575901830107 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.58, Z:-2.16 [[ 9.99889519e-01 9.44770481e-03 -1.14756777e-02 7.29467144e+00] [-9.43878317e-03 9.99955108e-01 8.31351728e-04 -5.82251289e-01] [ 1.14830169e-02 -7.22943446e-04 9.99933807e-01 -2.15868387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08719347 meters Centerline goodness [0,1] 0.8984595311250474 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.58, Z:-2.16 [[ 9.99886488e-01 9.26396224e-03 -1.18823615e-02 7.29543239e+00] [-9.26412922e-03 9.99957086e-01 4.09902067e-05 -5.79340046e-01] [ 1.18822313e-02 6.90941785e-05 9.99929401e-01 -2.15862619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11719347 meters Centerline goodness [0,1] 0.9015223496125504 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.58, Z:-2.16 [[ 9.99884271e-01 9.21327087e-03 -1.21062226e-02 7.29505437e+00] [-9.21515571e-03 9.99957535e-01 -9.99178719e-05 -5.78947161e-01] [ 1.21047879e-02 2.11467035e-04 9.99926712e-01 -2.15738391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14719347 meters Centerline goodness [0,1] 0.907447730587912 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.58, Z:-2.16 [[ 9.99900550e-01 7.64419358e-03 -1.18514043e-02 7.29292410e+00] [-7.66538906e-03 9.99969100e-01 -1.74404437e-03 -5.78470374e-01] [ 1.18377063e-02 1.83471655e-03 9.99928249e-01 -2.15517230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17719347 meters Centerline goodness [0,1] 0.903169678420192 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.58, Z:-2.16 [[ 9.99979730e-01 4.28041264e-03 -4.71362215e-03 7.30232176e+00] [-4.26965707e-03 9.99988264e-01 2.28950958e-03 -5.79268541e-01] [ 4.72336687e-03 -2.26933762e-03 9.99986270e-01 -2.15775439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20719347 meters Centerline goodness [0,1] 0.9099026999705151 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.58, Z:-2.16 [[ 9.99983888e-01 3.36478037e-03 -4.57185250e-03 7.30200231e+00] [-3.35829974e-03 9.99993346e-01 1.42444399e-03 -5.77458907e-01] [ 4.57661502e-03 -1.40906739e-03 9.99988534e-01 -2.15748028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23719347 meters Centerline goodness [0,1] 0.9095073737056794 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.58, Z:-2.16 [[ 9.99984564e-01 2.57471355e-03 -4.92372014e-03 7.30309631e+00] [-2.57133944e-03 9.99996455e-01 6.91482482e-04 -5.76234645e-01] [ 4.92548305e-03 -6.78811253e-04 9.99987639e-01 -2.15780462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26719347 meters Centerline goodness [0,1] 0.9119425068695836 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.58, Z:-2.16 [[ 9.99984955e-01 2.30223537e-03 -4.97889873e-03 7.30274261e+00] [-2.29993096e-03 9.99997245e-01 4.68511396e-04 -5.75468106e-01] [ 4.97996364e-03 -4.57053224e-04 9.99987495e-01 -2.15704482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29719347 meters Centerline goodness [0,1] 0.9123617793534228 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.57, Z:-2.16 [[ 9.99985326e-01 1.89692410e-03 -5.07435433e-03 7.30286140e+00] [-1.89734152e-03 9.99998197e-01 -7.74477008e-05 -5.74280658e-01] [ 5.07419827e-03 8.70743476e-05 9.99987122e-01 -2.15676680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32719347 meters Centerline goodness [0,1] 0.9124183006535947 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.57, Z:-2.16 [[ 9.99985220e-01 1.61031051e-03 -5.19286300e-03 7.30290232e+00] [-1.61554294e-03 9.99998191e-01 -1.00358232e-03 -5.71388828e-01] [ 5.19123753e-03 1.01195678e-03 9.99986013e-01 -2.15642470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35719347 meters Centerline goodness [0,1] 0.9054276315789473 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.57, Z:-2.16 [[ 9.99983917e-01 1.54643778e-03 -5.45653374e-03 7.30361641e+00] [-1.55485641e-03 9.99997607e-01 -1.53894790e-03 -5.69492842e-01] [ 5.45414079e-03 1.54740728e-03 9.99983929e-01 -2.15664178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38719347 meters Centerline goodness [0,1] 0.902992950314492 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.57, Z:-2.16 [[ 9.99982005e-01 1.85609768e-03 -5.70486214e-03 7.30433159e+00] [-1.86668563e-03 9.99996544e-01 -1.85118773e-03 -5.67649220e-01] [ 5.70140644e-03 1.86180361e-03 9.99982014e-01 -2.15698955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41719347 meters Centerline goodness [0,1] 0.9068932756254618 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.57, Z:-2.16 [[ 9.99979025e-01 2.16071892e-03 -6.10581736e-03 7.30554611e+00] [-2.17493042e-03 9.99994939e-01 -2.32185476e-03 -5.65415578e-01] [ 6.10076959e-03 2.33508579e-03 9.99978664e-01 -2.15766858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44719347 meters Centerline goodness [0,1] 0.9045635296345389 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.56, Z:-2.16 [[ 9.99959783e-01 6.20651084e-03 -6.47397845e-03 7.30667162e+00] [-6.19961434e-03 9.99980194e-01 1.08478974e-03 -5.63638815e-01] [ 6.48058299e-03 -1.04460994e-03 9.99978455e-01 -2.15816866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47719347 meters Centerline goodness [0,1] 0.9046585160202361 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.56, Z:-2.16 [[ 9.99958932e-01 6.25443561e-03 -6.55864203e-03 7.30675023e+00] [-6.25036013e-03 9.99980260e-01 6.41703843e-04 -5.61903276e-01] [ 6.56252606e-03 -6.00683615e-04 9.99978286e-01 -2.15801362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50719347 meters Centerline goodness [0,1] 0.9057602666047964 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.56, Z:-2.16 [[ 9.99957831e-01 6.15964742e-03 -6.81143984e-03 7.30743873e+00] [-6.15779275e-03 9.99980998e-01 2.93226609e-04 -5.60819000e-01] [ 6.81311658e-03 -2.51270809e-04 9.99976759e-01 -2.15822163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53719347 meters Centerline goodness [0,1] 0.9046211263471297 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.56, Z:-2.16 [[ 9.99952607e-01 6.30855260e-03 -7.41522975e-03 7.30931528e+00] [-6.30574606e-03 9.99980038e-01 4.01801153e-04 -5.61173128e-01] [ 7.41761651e-03 -3.55023555e-04 9.99972426e-01 -2.15925233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56719347 meters Centerline goodness [0,1] 0.904015609264854 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.56, Z:-2.16 [[ 9.99952563e-01 5.97483589e-03 -7.69236965e-03 7.31045130e+00] [-5.97285930e-03 9.99982123e-01 2.79901654e-04 -5.61569401e-01] [ 7.69390450e-03 -2.33942935e-04 9.99970374e-01 -2.15997191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59719347 meters Centerline goodness [0,1] 0.9032857504856829 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.56, Z:-2.16 [[ 9.99951655e-01 5.78501807e-03 -7.95111882e-03 7.31113987e+00] [-5.78092371e-03 9.99983146e-01 5.37827704e-04 -5.62985024e-01] [ 7.95409615e-03 -4.91836892e-04 9.99968245e-01 -2.16014238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62719347 meters Centerline goodness [0,1] 0.9028322991853447 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.57, Z:-2.16 [[ 9.99950751e-01 5.35202011e-03 -8.35766091e-03 7.31238778e+00] [-5.34634286e-03 9.99985462e-01 7.01481091e-04 -5.65111763e-01] [ 8.36129374e-03 -6.56763624e-04 9.99964828e-01 -2.16062976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65719347 meters Centerline goodness [0,1] 0.9019326827828946 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.57, Z:-2.16 [[ 9.99960313e-01 2.95678656e-03 -8.40421427e-03 7.31346328e+00] [-2.96585506e-03 9.99995033e-01 -1.06678431e-03 -5.68289140e-01] [ 8.40101827e-03 1.09166765e-03 9.99964115e-01 -2.16169651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68719347 meters Centerline goodness [0,1] 0.9017305706034864 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.57, Z:-2.16 [[ 9.99959657e-01 2.74982979e-03 -8.55122213e-03 7.31398348e+00] [-2.75547237e-03 9.99995994e-01 -6.48145483e-04 -5.70249026e-01] [ 8.54940558e-03 6.71681991e-04 9.99963228e-01 -2.16181890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71719346999998 meters Centerline goodness [0,1] 0.8998947368421053 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.57, Z:-2.16 [[ 9.99958264e-01 2.45395475e-03 -8.80047415e-03 7.31460894e+00] [-2.45817268e-03 9.99996869e-01 -4.68500330e-04 -5.71502037e-01] [ 8.79929691e-03 4.90113861e-04 9.99961165e-01 -2.16176642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74719346999998 meters Centerline goodness [0,1] 0.9003475275300423 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99954234e-01 2.17160525e-03 -9.31743118e-03 7.31570270e+00] [-2.17646226e-03 9.99997501e-01 -5.11174001e-04 -5.71933065e-01] [ 9.31629782e-03 5.31429644e-04 9.99956461e-01 -2.16172167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77719347 meters Centerline goodness [0,1] 0.9023481883600556 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99952594e-01 2.29732264e-03 -9.46212887e-03 7.31556742e+00] [-2.29926434e-03 9.99997338e-01 -1.94335072e-04 -5.72801111e-01] [ 9.46165723e-03 2.16081795e-04 9.99955214e-01 -2.16102933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80719347 meters Centerline goodness [0,1] 0.9014596227371623 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99952275e-01 2.33377017e-03 -9.48684926e-03 7.31518196e+00] [-2.33310054e-03 9.99997275e-01 8.16517328e-05 -5.73863710e-01] [ 9.48701396e-03 -5.95140629e-05 9.99954995e-01 -2.16028940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83719347 meters Centerline goodness [0,1] 0.9031781226903178 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99952220e-01 2.00965065e-03 -9.56653998e-03 7.31529067e+00] [-2.01021753e-03 9.99997978e-01 -4.96407817e-05 -5.74506062e-01] [ 9.56642088e-03 6.88692362e-05 9.99954238e-01 -2.16001689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86719347 meters Centerline goodness [0,1] 0.9065724351983894 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99997326e-01 -1.33582602e-03 -1.88767570e-03 7.32381763e+00] [ 1.34411289e-03 9.99989436e-01 4.39555825e-03 -5.73991418e-01] [ 1.88178405e-03 -4.39808375e-03 9.99988558e-01 -2.16245890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89719347 meters Centerline goodness [0,1] 0.9065897025364456 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99997305e-01 -1.48942638e-03 -1.78083004e-03 7.32302444e+00] [ 1.49670876e-03 9.99990495e-01 4.09500221e-03 -5.72244841e-01] [ 1.77471391e-03 -4.09765656e-03 9.99990030e-01 -2.16149246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92719347 meters Centerline goodness [0,1] 0.9086588225353303 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99997244e-01 -1.67754349e-03 -1.64230307e-03 7.32231481e+00] [ 1.68360817e-03 9.99991744e-01 3.69839396e-03 -5.70831336e-01] [ 1.63608530e-03 -3.70114877e-03 9.99991812e-01 -2.16069294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95719347 meters Centerline goodness [0,1] 0.9070445581941764 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99996930e-01 -1.86825365e-03 -1.62801947e-03 7.32165675e+00] [ 1.87394032e-03 9.99992124e-01 3.49850208e-03 -5.71328467e-01] [ 1.62147056e-03 -3.50154215e-03 9.99992555e-01 -2.15946662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98719347 meters Centerline goodness [0,1] 0.9075986176668914 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99996142e-01 -2.06668435e-03 -1.85596225e-03 7.32217250e+00] [ 2.07303394e-03 9.99991983e-01 3.42580365e-03 -5.71936108e-01] [ 1.84886731e-03 -3.42963791e-03 9.99992410e-01 -2.15948148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01719347 meters Centerline goodness [0,1] 0.9070430208922696 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.57, Z:-2.16 [[ 9.99993237e-01 -2.70366552e-03 -2.49322420e-03 7.32445935e+00] [ 2.71053586e-03 9.99992528e-01 2.75635512e-03 -5.71382652e-01] [ 2.48575330e-03 -2.76309445e-03 9.99993093e-01 -2.16084002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04719347 meters Centerline goodness [0,1] 0.9044164170919982 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.57, Z:-2.16 [[ 9.99992886e-01 -2.57356794e-03 -2.75776502e-03 7.32542731e+00] [ 2.58100597e-03 9.99993032e-01 2.69696759e-03 -5.70550851e-01] [ 2.75080497e-03 -2.70406622e-03 9.99992561e-01 -2.16149938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07719347 meters Centerline goodness [0,1] 0.9038294996092348 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.57, Z:-2.16 [[ 9.99993816e-01 -1.99252299e-03 -2.89786343e-03 7.32603286e+00] [ 2.00069088e-03 9.99994027e-01 2.81843002e-03 -5.69702647e-01] [ 2.89223033e-03 -2.82421032e-03 9.99991829e-01 -2.16207835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10719347 meters Centerline goodness [0,1] 0.9017369098621869 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.57, Z:-2.16 [[ 9.99992899e-01 -2.03673715e-03 -3.17085299e-03 7.32718591e+00] [ 2.04564055e-03 9.99993968e-01 2.80718166e-03 -5.70160490e-01] [ 3.16511637e-03 -2.81364815e-03 9.99991033e-01 -2.16287842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13719347 meters Centerline goodness [0,1] 0.901815060606695 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.57, Z:-2.16 [[ 9.99989811e-01 -2.54703251e-03 -3.72709415e-03 7.32938353e+00] [ 2.55611734e-03 9.99993769e-01 2.43478114e-03 -5.70583360e-01] [ 3.72086946e-03 -2.44428322e-03 9.99990090e-01 -2.16432848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16719347 meters Centerline goodness [0,1] 0.9008325585326684 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.57, Z:-2.16 [[ 9.99989245e-01 -2.33794835e-03 -4.00544869e-03 7.33017420e+00] [ 2.34937740e-03 9.99993176e-01 2.85105013e-03 -5.71474463e-01] [ 3.99875575e-03 -2.86042978e-03 9.99987914e-01 -2.16469678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19719347 meters Centerline goodness [0,1] 0.9008325585326684 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.57, Z:-2.16 [[ 9.99989245e-01 -2.33794835e-03 -4.00544869e-03 7.33017420e+00] [ 2.34937740e-03 9.99993176e-01 2.85105013e-03 -5.71474463e-01] [ 3.99875575e-03 -2.86042978e-03 9.99987914e-01 -2.16469678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22719347 meters Centerline goodness [0,1] 0.8957302045373159 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.57, Z:-2.17 [[ 9.99983832e-01 -2.93516098e-03 -4.87046857e-03 7.33369417e+00] [ 2.94804840e-03 9.99992167e-01 2.64096752e-03 -5.73190609e-01] [ 4.86267876e-03 -2.65528320e-03 9.99984652e-01 -2.16715666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25719347 meters Centerline goodness [0,1] 0.8911537408663059 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.58, Z:-2.17 [[ 9.99982194e-01 -2.95611140e-03 -5.18393432e-03 7.33456752e+00] [ 2.97257863e-03 9.99990552e-01 3.17176595e-03 -5.75323437e-01] [ 5.17450925e-03 -3.18711913e-03 9.99981533e-01 -2.16745449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28719347 meters Centerline goodness [0,1] 0.8929009863268849 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99980308e-01 -3.02436880e-03 -5.49873860e-03 7.33529691e+00] [ 3.04504209e-03 9.99988313e-01 3.75516508e-03 -5.77745280e-01] [ 5.48731734e-03 -3.77183502e-03 9.99977831e-01 -2.16755339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31719347 meters Centerline goodness [0,1] 0.8914074074074074 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99977948e-01 -3.25451705e-03 -5.78899739e-03 7.33599092e+00] [ 3.27869862e-03 9.99985920e-01 4.17258743e-03 -5.79947339e-01] [ 5.77533613e-03 -4.19147580e-03 9.99974538e-01 -2.16754687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34719347 meters Centerline goodness [0,1] 0.8823714916430148 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99965026e-01 -5.41175431e-03 -6.37643075e-03 7.33802118e+00] [ 5.42774475e-03 9.99982162e-01 2.49311037e-03 -5.81743018e-01] [ 6.36282491e-03 -2.52763281e-03 9.99976562e-01 -2.16827112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37719347 meters Centerline goodness [0,1] 0.8820870735142635 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99964499e-01 -5.43971733e-03 -6.43506880e-03 7.33830819e+00] [ 5.45771964e-03 9.99981233e-01 2.78328625e-03 -5.82552425e-01] [ 6.41980774e-03 -2.81830824e-03 9.99975421e-01 -2.16833650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40719347 meters Centerline goodness [0,1] 0.8820507399577167 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99963059e-01 -5.41774950e-03 -6.67302428e-03 7.33870792e+00] [ 5.43810422e-03 9.99980605e-01 3.03594086e-03 -5.83151245e-01] [ 6.65644689e-03 -3.07211731e-03 9.99973127e-01 -2.16822533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43719347 meters Centerline goodness [0,1] 0.8956543815850717 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99962284e-01 -5.34270288e-03 -6.84737930e-03 7.33895580e+00] [ 5.36510500e-03 9.99980302e-01 3.25745233e-03 -5.83865259e-01] [ 6.82984082e-03 -3.29406638e-03 9.99971251e-01 -2.16801250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46719346999998 meters Centerline goodness [0,1] 0.8825994482700529 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99957898e-01 -5.59010826e-03 -7.27692772e-03 7.33998270e+00] [ 5.61177509e-03 9.99979872e-01 2.96046439e-03 -5.83751917e-01] [ 7.26023193e-03 -3.00117623e-03 9.99969141e-01 -2.16817915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49719346999998 meters Centerline goodness [0,1] 0.8986649203599645 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99968331e-01 -4.01926681e-03 -6.86896984e-03 7.33762527e+00] [ 4.04486015e-03 9.99984915e-01 3.71611261e-03 -5.82047719e-01] [ 6.85393017e-03 -3.74377894e-03 9.99969503e-01 -2.16608036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52719347 meters Centerline goodness [0,1] 0.887500790022542 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.17 [[ 9.99968058e-01 -3.77624575e-03 -7.04439023e-03 7.33769100e+00] [ 3.79924698e-03 9.99987486e-01 3.25466517e-03 -5.79662277e-01] [ 7.03201166e-03 -3.28132459e-03 9.99969891e-01 -2.16562413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55719347 meters Centerline goodness [0,1] 0.8983984300816611 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.16 [[ 9.99969581e-01 -3.14393976e-03 -7.13818489e-03 7.33714732e+00] [ 3.16746727e-03 9.99989581e-01 3.28709774e-03 -5.77918264e-01] [ 7.12777608e-03 -3.30960772e-03 9.99969120e-01 -2.16463286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58719347 meters Centerline goodness [0,1] 0.8891023070266163 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.16 [[ 9.99969479e-01 -2.75166388e-03 -7.31221414e-03 7.33704440e+00] [ 2.77588173e-03 9.99990689e-01 3.30389049e-03 -5.76977360e-01] [ 7.30305486e-03 -3.32408750e-03 9.99967807e-01 -2.16399681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61719347 meters Centerline goodness [0,1] 0.9031008567879923 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.16 [[ 9.99967888e-01 -2.33599375e-03 -7.66595986e-03 7.33716434e+00] [ 2.36343705e-03 9.99990825e-01 3.57278677e-03 -5.77712581e-01] [ 7.65754352e-03 -3.59079005e-03 9.99964233e-01 -2.16315042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64719347 meters Centerline goodness [0,1] 0.8994346230116873 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.16 [[ 9.99967545e-01 -2.05286226e-03 -7.79065892e-03 7.33718237e+00] [ 2.08491277e-03 9.99989388e-01 4.10807763e-03 -5.79003819e-01] [ 7.78214293e-03 -4.12418714e-03 9.99961214e-01 -2.16275241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67719347 meters Centerline goodness [0,1] 0.902114956061052 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.16 [[ 9.99964248e-01 -2.19944732e-03 -8.16489415e-03 7.33815343e+00] [ 2.23319903e-03 9.99988991e-01 4.12694718e-03 -5.79517623e-01] [ 8.15572726e-03 -4.14503346e-03 9.99958151e-01 -2.16299223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70719347 meters Centerline goodness [0,1] 0.9025477171445389 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.16 [[ 9.99963289e-01 -2.09222522e-03 -8.30918647e-03 7.33842901e+00] [ 2.12887982e-03 9.99988032e-01 4.40494209e-03 -5.80054025e-01] [ 8.29987090e-03 -4.42246965e-03 9.99955776e-01 -2.16287415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73719347 meters Centerline goodness [0,1] 0.900610232479571 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.58, Z:-2.16 [[ 9.99964381e-01 -1.66122442e-03 -8.27505021e-03 7.33769359e+00] [ 1.70819578e-03 9.99982453e-01 5.67243254e-03 -5.83640279e-01] [ 8.26548182e-03 -5.68636590e-03 9.99949672e-01 -2.16172456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76719347 meters Centerline goodness [0,1] 0.9009911429776466 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.59, Z:-2.16 [[ 9.99959059e-01 -2.39684472e-03 -8.72556734e-03 7.33945751e+00] [ 2.44482238e-03 9.99981930e-01 5.49200768e-03 -5.86229147e-01] [ 8.71224618e-03 -5.51311529e-03 9.99946850e-01 -2.16269046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79719347 meters Centerline goodness [0,1] 0.9017695004011994 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.59, Z:-2.16 [[ 9.99950358e-01 -3.86036901e-03 -9.18576371e-03 7.34184848e+00] [ 3.90323658e-03 9.99981555e-01 4.65339688e-03 -5.90198990e-01] [ 9.16763045e-03 -4.68902009e-03 9.99946982e-01 -2.16460769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82719347 meters Centerline goodness [0,1] 0.8981981601822939 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.59, Z:-2.17 [[ 9.99947040e-01 -4.03389619e-03 -9.46814574e-03 7.34320324e+00] [ 4.07890315e-03 9.99980452e-01 4.73902704e-03 -5.90925202e-01] [ 9.44884391e-03 -4.77739571e-03 9.99943946e-01 -2.16567843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85719347 meters Centerline goodness [0,1] 0.9012078107903375 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.59, Z:-2.17 [[ 9.99942942e-01 -4.16095857e-03 -9.83863201e-03 7.34452665e+00] [ 4.20812129e-03 9.99979732e-01 4.77779380e-03 -5.91302362e-01] [ 9.81855240e-03 -4.81892334e-03 9.99940185e-01 -2.16644028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88719347 meters Centerline goodness [0,1] 0.8998405170604776 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.59, Z:-2.17 [[ 9.99938705e-01 -4.25641968e-03 -1.02210285e-02 7.34566359e+00] [ 4.30468143e-03 9.99979669e-01 4.70446119e-03 -5.91635668e-01] [ 1.02007966e-02 -4.74817110e-03 9.99936697e-01 -2.16689556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91719347 meters Centerline goodness [0,1] 0.8972793824596732 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.59, Z:-2.17 [[ 9.99939652e-01 -3.61099168e-03 -1.03755556e-02 7.34608203e+00] [ 3.66759973e-03 9.99978466e-01 5.44206706e-03 -5.94405461e-01] [ 1.03556809e-02 -5.47979203e-03 9.99931364e-01 -2.16694648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94719347 meters Centerline goodness [0,1] 0.8985848560674559 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.59, Z:-2.17 [[ 9.99941084e-01 -3.11532902e-03 -1.03981933e-02 7.34612516e+00] [ 3.17483620e-03 9.99978651e-01 5.71124673e-03 -5.94527953e-01] [ 1.03801789e-02 -5.74392281e-03 9.99929627e-01 -2.16695425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97719347 meters Centerline goodness [0,1] 0.8979767271202432 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.59, Z:-2.17 [[ 9.99938945e-01 -3.00840891e-03 -1.06328102e-02 7.34689352e+00] [ 3.06489818e-03 9.99981256e-01 5.30043679e-03 -5.93098837e-01] [ 1.06166650e-02 -5.33270165e-03 9.99929422e-01 -2.16738674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00719347 meters Centerline goodness [0,1] 0.900697046448831 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.59, Z:-2.17 [[ 9.99938829e-01 -2.85539672e-03 -1.06857584e-02 7.34711141e+00] [ 2.90752614e-03 9.99983934e-01 4.86605020e-03 -5.91186078e-01] [ 1.06716922e-02 -4.89682165e-03 9.99931066e-01 -2.16749468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03719347 meters Centerline goodness [0,1] 0.9015733085878185 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.59, Z:-2.17 [[ 9.99947393e-01 -5.29979122e-04 -1.02435499e-02 7.34453297e+00] [ 5.98359647e-04 9.99977553e-01 6.67355985e-03 -5.89647275e-01] [ 1.02397831e-02 -6.67933810e-03 9.99925264e-01 -2.16532396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06719347 meters Centerline goodness [0,1] 0.9026399511198197 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.59, Z:-2.17 [[ 9.99945685e-01 -7.40148283e-04 -1.03961274e-02 7.34477844e+00] [ 8.05808545e-04 9.99979748e-01 6.31307034e-03 -5.89057529e-01] [ 1.03912442e-02 -6.32110473e-03 9.99926030e-01 -2.16516233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09719347 meters Centerline goodness [0,1] 0.9026334099390668 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.59, Z:-2.16 [[ 9.99944539e-01 -1.01770438e-03 -1.04825081e-02 7.34489593e+00] [ 1.08343949e-03 9.99979774e-01 6.26716496e-03 -5.89758241e-01] [ 1.04759179e-02 -6.27817454e-03 9.99925417e-01 -2.16493503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12719347 meters Centerline goodness [0,1] 0.9040253525856279 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.59, Z:-2.17 [[ 9.99935233e-01 -3.22964676e-03 -1.09132592e-02 7.34688546e+00] [ 3.27500249e-03 9.99986064e-01 4.14070800e-03 -5.91274497e-01] [ 1.08997341e-02 -4.17618077e-03 9.99931875e-01 -2.16622549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15719347 meters Centerline goodness [0,1] 0.9012707310391335 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.60, Z:-2.17 [[ 9.99911710e-01 -7.71273363e-03 -1.08206413e-02 7.34705279e+00] [ 7.72442978e-03 9.99969626e-01 1.03953412e-03 -5.95349064e-01] [ 1.08122950e-02 -1.12302562e-03 9.99940915e-01 -2.16630051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18719347 meters Centerline goodness [0,1] 0.9008644202928958 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.60, Z:-2.17 [[ 9.99890347e-01 -9.33092172e-03 -1.14990438e-02 7.34999372e+00] [ 9.33611579e-03 9.99956338e-01 3.98097560e-04 -5.97618472e-01] [ 1.14948271e-02 -5.05410311e-04 9.99933805e-01 -2.16811657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21719346999998 meters Centerline goodness [0,1] 0.8967877830437072 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.60, Z:-2.17 [[ 9.99881824e-01 -9.86814718e-03 -1.17880639e-02 7.35101592e+00] [ 9.88048329e-03 9.99950698e-01 9.88710620e-04 -6.00726311e-01] [ 1.17777260e-02 -1.10506555e-03 9.99930030e-01 -2.16849977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24719346999998 meters Centerline goodness [0,1] 0.8982503535172326 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.60, Z:-2.17 [[ 9.99874328e-01 -1.02628638e-02 -1.20831598e-02 7.35203800e+00] [ 1.02833949e-02 9.99945782e-01 1.63824889e-03 -6.03912848e-01] [ 1.20656915e-02 -1.76229891e-03 9.99925654e-01 -2.16890791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27719347 meters Centerline goodness [0,1] 0.8967702414397668 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.61, Z:-2.17 [[ 9.99828077e-01 -1.37621062e-02 -1.24266479e-02 7.35405941e+00] [ 1.37512188e-02 9.99904986e-01 -9.61162475e-04 -6.07205974e-01] [ 1.24386948e-02 7.90115675e-04 9.99922324e-01 -2.17044704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30719347 meters Centerline goodness [0,1] 0.8918839050131926 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.61, Z:-2.17 [[ 9.99822088e-01 -1.39355946e-02 -1.27118998e-02 7.35487235e+00] [ 1.39278925e-02 9.99902761e-01 -6.94234469e-04 -6.08278897e-01] [ 1.27203383e-02 5.17060982e-04 9.99918960e-01 -2.17070538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33719347 meters Centerline goodness [0,1] 0.8934246112237999 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.61, Z:-2.17 [[ 9.99821174e-01 -1.38860452e-02 -1.28373201e-02 7.35491210e+00] [ 1.38818258e-02 9.99903556e-01 -4.17740438e-04 -6.08666841e-01] [ 1.28418828e-02 2.39460294e-04 9.99917511e-01 -2.17037425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36719347 meters Centerline goodness [0,1] 0.8942735926715495 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.61, Z:-2.17 [[ 9.99819532e-01 -1.38209760e-02 -1.30339824e-02 7.35496273e+00] [ 1.38190392e-02 9.99904484e-01 -2.38653193e-04 -6.08783032e-01] [ 1.30360359e-02 5.84930105e-05 9.99915026e-01 -2.16978529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39719347 meters Centerline goodness [0,1] 0.8990142573084571 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.61, Z:-2.17 [[ 9.99820279e-01 -1.36706729e-02 -1.31347673e-02 7.35456415e+00] [ 1.36708126e-02 9.99906547e-01 -7.91490403e-05 -6.08813580e-01] [ 1.31346218e-02 -1.00428127e-04 9.99913732e-01 -2.16890676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42719347 meters Centerline goodness [0,1] 0.8903648898604338 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.61, Z:-2.17 [[ 9.99888281e-01 -1.32613972e-02 -6.89641686e-03 7.36643744e+00] [ 1.32069973e-02 9.99881775e-01 -7.87474895e-03 -6.05632754e-01] [ 7.00003170e-03 7.78278823e-03 9.99945212e-01 -2.17207506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45719347 meters Centerline goodness [0,1] 0.8967979002624672 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.61, Z:-2.17 [[ 9.99922286e-01 -1.02733768e-02 -7.06250229e-03 7.36700639e+00] [ 1.02447423e-02 9.99939203e-01 -4.07873739e-03 -6.06347299e-01] [ 7.10397532e-03 4.00606690e-03 9.99966742e-01 -2.17216816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48719347 meters Centerline goodness [0,1] 0.8883567857218202 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.61, Z:-2.17 [[ 9.99919385e-01 -1.05166078e-02 -7.11505240e-03 7.36705613e+00] [ 1.04854867e-02 9.99935357e-01 -4.39723600e-03 -6.05109514e-01] [ 7.16083647e-03 4.32227673e-03 9.99965020e-01 -2.17206284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51719347 meters Centerline goodness [0,1] 0.8738915632125666 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.60, Z:-2.17 [[ 9.99943041e-01 -7.97101313e-03 -7.09772857e-03 7.36759336e+00] [ 7.96168353e-03 9.99967405e-01 -1.34173530e-03 -6.04374473e-01] [ 7.10819221e-03 1.28514900e-03 9.99973911e-01 -2.17259357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54719347 meters Centerline goodness [0,1] 0.890600566332784 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.60, Z:-2.17 [[ 9.99963118e-01 -4.81361106e-03 -7.11276192e-03 7.36785577e+00] [ 4.82919770e-03 9.99985972e-01 2.17581514e-03 -6.04333891e-01] [ 7.10218861e-03 -2.21008382e-03 9.99972337e-01 -2.17273307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57719347 meters Centerline goodness [0,1] 0.8755519283487141 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.60, Z:-2.18 [[ 9.99997758e-01 -1.58642484e-03 -1.40237427e-03 7.37958134e+00] [ 1.58123635e-03 9.99991930e-01 -3.69318674e-03 -6.01367123e-01] [ 1.40822192e-03 3.69096098e-03 9.99992197e-01 -2.17641412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60719347 meters Centerline goodness [0,1] 0.8942114926034567 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.60, Z:-2.17 [[ 9.99999569e-01 2.04608878e-04 -9.05700557e-04 7.37745314e+00] [-2.06457937e-04 9.99997894e-01 -2.04195576e-03 -5.99100452e-01] [ 9.05280847e-04 2.04214187e-03 9.99997505e-01 -2.17477192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63719347 meters Centerline goodness [0,1] 0.884300993927168 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.59, Z:-2.18 [[ 9.99995007e-01 2.97259930e-03 -1.07177360e-03 7.37842189e+00] [-2.97270182e-03 9.99995577e-01 -9.40735753e-05 -5.94547145e-01] [ 1.07148922e-03 9.72591690e-05 9.99999421e-01 -2.17545893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66719347 meters Centerline goodness [0,1] 0.8977824709609292 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.59, Z:-2.18 [[ 9.99995322e-01 2.82621703e-03 -1.16964310e-03 7.37886711e+00] [-2.82728050e-03 9.99995590e-01 -9.08566058e-04 -5.91797498e-01] [ 1.16707013e-03 9.11868717e-04 9.99998903e-01 -2.17589610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69719347 meters Centerline goodness [0,1] 0.893957633740945 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.59, Z:-2.18 [[ 9.99996180e-01 2.41685274e-03 -1.34153892e-03 7.37954263e+00] [-2.41952337e-03 9.99995088e-01 -1.99267816e-03 -5.88645032e-01] [ 1.33671632e-03 1.99591643e-03 9.99997115e-01 -2.17640002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72719347 meters Centerline goodness [0,1] 0.8929680403878245 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.58, Z:-2.18 [[ 9.99995937e-01 2.48743274e-03 -1.39224342e-03 7.38047115e+00] [-2.49124522e-03 9.99993134e-01 -2.74336313e-03 -5.82085463e-01] [ 1.38540993e-03 2.74682040e-03 9.99995268e-01 -2.17741374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75719347 meters Centerline goodness [0,1] 0.8866648348164274 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.58, Z:-2.18 [[ 9.99996133e-01 2.26944399e-03 -1.60732003e-03 7.38113568e+00] [-2.27525200e-03 9.99990856e-01 -3.62091275e-03 -5.78911509e-01] [ 1.59908788e-03 3.62455581e-03 9.99992153e-01 -2.17782272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78719347 meters Centerline goodness [0,1] 0.8910847142374028 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.58, Z:-2.18 [[ 9.99995696e-01 2.28494930e-03 -1.84030919e-03 7.38162053e+00] [-2.29253615e-03 9.99988839e-01 -4.13109480e-03 -5.76552603e-01] [ 1.83084931e-03 4.13529599e-03 9.99989774e-01 -2.17788488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81719347 meters Centerline goodness [0,1] 0.8896897193101116 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.57, Z:-2.18 [[ 9.99995411e-01 2.27647420e-03 -1.99905466e-03 7.38183641e+00] [-2.28597010e-03 9.99986054e-01 -4.76082652e-03 -5.73706521e-01] [ 1.98818888e-03 4.76537445e-03 9.99986669e-01 -2.17775391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84719347 meters Centerline goodness [0,1] 0.8944697161149019 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.57, Z:-2.18 [[ 9.99983511e-01 5.35426234e-03 -2.07609576e-03 7.38162576e+00] [-5.36014678e-03 9.99981604e-01 -2.83925077e-03 -5.67758707e-01] [ 2.06085547e-03 2.85033213e-03 9.99993814e-01 -2.17694769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87719347 meters Centerline goodness [0,1] 0.9090161341347675 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.56, Z:-2.18 [[ 9.99981562e-01 5.72007829e-03 -2.03881957e-03 7.38134545e+00] [-5.72719902e-03 9.99977460e-01 -3.50401454e-03 -5.63839689e-01] [ 2.01873037e-03 3.51562665e-03 9.99991783e-01 -2.17665892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90719347 meters Centerline goodness [0,1] 0.9074903767274562 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.56, Z:-2.18 [[ 9.99980274e-01 5.78831124e-03 -2.43885885e-03 7.38248383e+00] [-5.79910097e-03 9.99973326e-01 -4.44049276e-03 -5.60045470e-01] [ 2.41309084e-03 4.45454835e-03 9.99987167e-01 -2.17726449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93719347 meters Centerline goodness [0,1] 0.9063272419985212 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.56, Z:-2.18 [[ 9.99971959e-01 7.18049169e-03 -2.12645171e-03 7.38172716e+00] [-7.18794401e-03 9.99967978e-01 -3.51792386e-03 -5.57229662e-01] [ 2.10112319e-03 3.53311003e-03 9.99991551e-01 -2.17702347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96719346999998 meters Centerline goodness [0,1] 0.9046475371845111 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.55, Z:-2.18 [[ 9.99941455e-01 1.04516656e-02 -2.80181070e-03 7.38481192e+00] [-1.04558441e-02 9.99944240e-01 -1.48089274e-03 -5.52594513e-01] [ 2.78617668e-03 1.51010134e-03 9.99994978e-01 -2.17965559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99719346999998 meters Centerline goodness [0,1] 0.9052624899530437 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.55, Z:-2.18 [[ 9.99939315e-01 1.06429388e-02 -2.84503288e-03 7.38518279e+00] [-1.06492330e-02 9.99940861e-01 -2.20646042e-03 -5.49240296e-01] [ 2.82138140e-03 2.23662394e-03 9.99993519e-01 -2.18007106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02719347 meters Centerline goodness [0,1] 0.9036842773148344 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.55, Z:-2.18 [[ 9.99936925e-01 1.07849935e-02 -3.13536021e-03 7.38588954e+00] [-1.07945837e-02 9.99937061e-01 -3.05805522e-03 -5.45726487e-01] [ 3.10218176e-03 3.09170724e-03 9.99990409e-01 -2.18028537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05719347 meters Centerline goodness [0,1] 0.9038607916102842 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.54, Z:-2.18 [[ 9.99934565e-01 1.09339368e-02 -3.36384162e-03 7.38654837e+00] [-1.09470174e-02 9.99932493e-01 -3.89507741e-03 -5.42465632e-01] [ 3.32102601e-03 3.93164657e-03 9.99986756e-01 -2.18061564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08719347 meters Centerline goodness [0,1] 0.9038607916102842 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.54, Z:-2.18 [[ 9.99934565e-01 1.09339368e-02 -3.36384162e-03 7.38654837e+00] [-1.09470174e-02 9.99932493e-01 -3.89507741e-03 -5.42465632e-01] [ 3.32102601e-03 3.93164657e-03 9.99986756e-01 -2.18061564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11719347 meters Centerline goodness [0,1] 0.9048079957916886 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.54, Z:-2.18 [[ 9.99877777e-01 1.52185595e-02 -3.58150964e-03 7.38734946e+00] [-1.52202020e-02 9.99884073e-01 -4.31819109e-04 -5.40242983e-01] [ 3.57452278e-03 4.86277631e-04 9.99993493e-01 -2.18107358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14719347 meters Centerline goodness [0,1] 0.9081916733454254 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.54, Z:-2.18 [[ 9.99876967e-01 1.52327682e-02 -3.74344207e-03 7.38750132e+00] [-1.52356106e-02 9.99883663e-01 -7.31969711e-04 -5.39486174e-01] [ 3.73185665e-03 7.88913280e-04 9.99992725e-01 -2.18086834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17719347 meters Centerline goodness [0,1] 0.9114356874498712 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.54, Z:-2.18 [[ 9.99875503e-01 1.52891035e-02 -3.90158570e-03 7.38762443e+00] [-1.52926393e-02 9.99882675e-01 -8.78028800e-04 -5.39168883e-01] [ 3.88770367e-03 9.37585031e-04 9.99992003e-01 -2.18057609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20719347 meters Centerline goodness [0,1] 0.9124606843560679 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.54, Z:-2.18 [[ 9.99870890e-01 1.55475310e-02 -4.05933208e-03 7.38739583e+00] [-1.55509165e-02 9.99878754e-01 -8.03785783e-04 -5.39183718e-01] [ 4.04634302e-03 8.66808340e-04 9.99991438e-01 -2.17980085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23719347 meters Centerline goodness [0,1] 0.9241091208304323 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.54, Z:-2.18 [[ 9.99838107e-01 1.76529753e-02 -3.48326284e-03 7.38411032e+00] [-1.76487918e-02 9.99843494e-01 1.22812615e-03 -5.41506889e-01] [ 3.50439777e-03 -1.16645194e-03 9.99993179e-01 -2.17660458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26719347 meters Centerline goodness [0,1] 0.9245302845613887 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.54, Z:-2.18 [[ 9.99834244e-01 1.78229648e-02 -3.71834729e-03 7.38450799e+00] [-1.78166399e-02 9.99839779e-01 1.72726156e-03 -5.43072698e-01] [ 3.74853645e-03 -1.66072680e-03 9.99991595e-01 -2.17646276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29719347 meters Centerline goodness [0,1] 0.9254621724741247 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.54, Z:-2.18 [[ 9.99887672e-01 1.45242532e-02 -3.69990855e-03 7.38454608e+00] [-1.45305900e-02 9.99892995e-01 -1.69158766e-03 -5.43659299e-01] [ 3.67494359e-03 1.74515950e-03 9.99991725e-01 -2.17677600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32719347 meters Centerline goodness [0,1] 0.9235395914232652 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.55, Z:-2.18 [[ 9.99924294e-01 1.16903108e-02 -3.83969298e-03 7.38533102e+00] [-1.17062926e-02 9.99922799e-01 -4.16648998e-03 -5.46571975e-01] [ 3.79068898e-03 4.21112312e-03 9.99983948e-01 -2.17755886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35719347 meters Centerline goodness [0,1] 0.9218891724850761 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.55, Z:-2.18 [[ 9.99946875e-01 9.35384566e-03 -4.33042824e-03 7.38764245e+00] [-9.37874148e-03 9.99939401e-01 -5.76488251e-03 -5.51051286e-01] [ 4.27624200e-03 5.80519022e-03 9.99974006e-01 -2.17945177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38719347 meters Centerline goodness [0,1] 0.9140521571017295 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.56, Z:-2.18 [[ 9.99985123e-01 2.83541322e-03 -4.65982807e-03 7.38965485e+00] [-2.88291782e-03 9.99943623e-01 -1.02195979e-02 -5.59765625e-01] [ 4.63058858e-03 1.02328798e-02 9.99936921e-01 -2.18137767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41719347 meters Centerline goodness [0,1] 0.911844160229623 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.56, Z:-2.18 [[ 9.99988239e-01 -7.18799498e-04 -4.79646564e-03 7.39009802e+00] [ 6.58056356e-04 9.99919722e-01 -1.26537294e-02 -5.64484441e-01] [ 4.80517609e-03 1.26504242e-02 9.99908434e-01 -2.18162560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44719347 meters Centerline goodness [0,1] 0.9101666315123391 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.57, Z:-2.18 [[ 9.99977004e-01 -4.39335035e-03 -5.16618955e-03 7.39106706e+00] [ 4.31497758e-03 9.99876907e-01 -1.50848521e-02 -5.69456658e-01] [ 5.23182666e-03 1.50622132e-02 9.99872871e-01 -2.18193454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47719347 meters Centerline goodness [0,1] 0.9102882913259716 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.58, Z:-2.18 [[ 9.99918722e-01 -1.12495787e-02 -5.99965294e-03 7.39450540e+00] [ 1.11278296e-02 9.99738971e-01 -1.99539893e-02 -5.78098276e-01] [ 6.22256083e-03 1.98856043e-02 9.99782898e-01 -2.18438358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50719347 meters Centerline goodness [0,1] 0.9094740355928314 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.58, Z:-2.19 [[ 9.99885977e-01 -1.35890031e-02 -6.58567056e-03 7.39716600e+00] [ 1.34443362e-02 9.99677702e-01 -2.15346586e-02 -5.81681718e-01] [ 6.87618256e-03 2.14436632e-02 9.99746412e-01 -2.18610351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53719347 meters Centerline goodness [0,1] 0.9044868010457957 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.59, Z:-2.19 [[ 0.99982934 -0.0156356 -0.00983933 7.3900519 ] [ 0.01553319 0.99982526 -0.0104003 -0.58696366] [ 0.01000023 0.01024569 0.99989751 -2.18559072] [ 0. 0. 0. 1. ]] SLAMing on 178.56719347 meters Centerline goodness [0,1] 0.907870008657643 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.59, Z:-2.18 [[ 0.99978231 -0.01844645 -0.00975002 7.38876016] [ 0.01832644 0.99975691 -0.0122581 -0.59209818] [ 0.00997377 0.01207675 0.99987733 -2.18384002] [ 0. 0. 0. 1. ]] SLAMing on 178.59719347 meters Centerline goodness [0,1] 0.9106252235947726 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99796754e-01 -1.93985592e-02 -5.49055419e-03 7.39544249e+00] [ 1.93854518e-02 9.99809130e-01 -2.43050082e-03 -5.97092493e-01] [ 5.53665443e-03 2.32356996e-03 9.99981973e-01 -2.18277195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62719347 meters Centerline goodness [0,1] 0.9120492338820158 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99798378e-01 -1.93046888e-02 -5.52560889e-03 7.39507310e+00] [ 1.92951956e-02 9.99812270e-01 -1.76623439e-03 -5.98802003e-01] [ 5.55866817e-03 1.65926058e-03 9.99983174e-01 -2.18197802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65719347 meters Centerline goodness [0,1] 0.9094351530451247 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99797559e-01 -1.92963363e-02 -5.70025132e-03 7.39563324e+00] [ 1.92888246e-02 9.99813015e-01 -1.36984044e-03 -5.99903096e-01] [ 5.72561836e-03 1.25961198e-03 9.99982815e-01 -2.18216286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68719347 meters Centerline goodness [0,1] 0.9109415291725194 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99788134e-01 -1.97119232e-02 -5.92685326e-03 7.39609804e+00] [ 1.97060274e-02 9.99805264e-01 -1.05151636e-03 -6.01449688e-01] [ 5.94642650e-03 9.34498848e-04 9.99981883e-01 -2.18199516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71719346999998 meters Centerline goodness [0,1] 0.9064758782988738 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99788559e-01 -1.96882226e-02 -5.93390379e-03 7.39576266e+00] [ 1.96843605e-02 9.99805993e-01 -7.08560799e-04 -6.02173621e-01] [ 5.94670287e-03 5.91605878e-04 9.99982143e-01 -2.18141774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74719346999998 meters Centerline goodness [0,1] 0.9088616638998046 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99787219e-01 -1.97311781e-02 -6.01648803e-03 7.39542862e+00] [ 1.97289038e-02 9.99805271e-01 -4.37127910e-04 -6.02716589e-01] [ 6.02394149e-03 3.18336184e-04 9.99981805e-01 -2.18061500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77719347 meters Centerline goodness [0,1] 0.9065276006939365 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99777787e-01 -2.01350923e-02 -6.24134942e-03 7.39583030e+00] [ 2.01328265e-02 9.99797223e-01 -4.25649318e-04 -6.03500649e-01] [ 6.24865431e-03 2.99898728e-04 9.99980432e-01 -2.18041310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80719347 meters Centerline goodness [0,1] 0.8633282815525807 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99772653e-01 -2.03474981e-02 -6.37352692e-03 7.39594909e+00] [ 2.03461445e-02 9.99792957e-01 -2.77160435e-04 -6.04312791e-01] [ 6.37784685e-03 1.47420724e-04 9.99979650e-01 -2.18013443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83719347 meters Centerline goodness [0,1] 0.8833070369201641 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99759083e-01 -2.08859124e-02 -6.74942439e-03 7.39696791e+00] [ 2.08817410e-02 9.99781716e-01 -6.87931125e-04 -6.03451842e-01] [ 6.76231917e-03 5.46825659e-04 9.99976986e-01 -2.18049276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86719347 meters Centerline goodness [0,1] 0.8821525455807204 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99803386e-01 -1.84072615e-02 -7.37309059e-03 7.39907531e+00] [ 1.84243140e-02 9.99827723e-01 2.25158747e-03 -6.03069071e-01] [ 7.33037481e-03 -2.38698891e-03 9.99970284e-01 -2.18165997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89719347 meters Centerline goodness [0,1] 0.880692684362062 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.18 [[ 9.99826087e-01 -1.68146018e-02 -8.06625528e-03 7.40211474e+00] [ 1.68467970e-02 9.99850319e-01 3.94014211e-03 -6.01163440e-01] [ 7.99879600e-03 -4.07534743e-03 9.99959705e-01 -2.18377587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92719347 meters Centerline goodness [0,1] 0.8567551076230353 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.60, Z:-2.19 [[ 9.99849211e-01 -1.51179266e-02 -8.54424618e-03 7.40471198e+00] [ 1.51613046e-02 9.99872383e-01 5.03510501e-03 -5.95522488e-01] [ 8.46703544e-03 -5.16388769e-03 9.99950821e-01 -2.18607572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95719347 meters Centerline goodness [0,1] 0.8482855114229628 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.59, Z:-2.19 [[ 9.99909628e-01 -1.32252180e-02 -2.41431225e-03 7.41601225e+00] [ 1.32201885e-02 9.99910431e-01 -2.08741501e-03 -5.90844412e-01] [ 2.44170252e-03 2.05530871e-03 9.99994907e-01 -2.18932016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98719347 meters Centerline goodness [0,1] 0.8735039858654271 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.59, Z:-2.19 [[ 9.99905477e-01 -1.35373522e-02 -2.40343516e-03 7.41537358e+00] [ 1.35299459e-02 9.99903749e-01 -3.07152744e-03 -5.87185715e-01] [ 2.44478417e-03 3.03871876e-03 9.99992395e-01 -2.18846270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01719347 meters Centerline goodness [0,1] 0.8507302495896292 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.59, Z:-2.19 [[ 9.99941498e-01 -1.05343895e-02 -2.45488692e-03 7.41515002e+00] [ 1.05347083e-02 9.99944502e-01 1.16969351e-04 -5.85793951e-01] [ 2.45351847e-03 -1.42824026e-04 9.99996980e-01 -2.18787820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04719347 meters Centerline goodness [0,1] 0.850204133170588 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.58, Z:-2.19 [[ 9.99967677e-01 -7.61492441e-03 -2.58037852e-03 7.41543888e+00] [ 7.62256659e-03 9.99966552e-01 2.96487573e-03 -5.83722694e-01] [ 2.55771491e-03 -2.98444901e-03 9.99992276e-01 -2.18784631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07719347 meters Centerline goodness [0,1] 0.8172541358383906 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.57, Z:-2.19 [[ 9.99977860e-01 -6.60413996e-03 8.15106837e-04 7.43235952e+00] [ 6.60632106e-03 9.99974525e-01 -2.70280063e-03 -5.71625999e-01] [-7.97236399e-04 2.70812565e-03 9.99996015e-01 -2.19047218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10719347 meters Centerline goodness [0,1] 0.8209130580731789 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.57, Z:-2.19 [[ 9.99982987e-01 -5.73558426e-03 1.06267267e-03 7.43109293e+00] [ 5.73787497e-03 9.99981194e-01 -2.16525147e-03 -5.66799744e-01] [-1.05023371e-03 2.17131211e-03 9.99997091e-01 -2.18935902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13719347 meters Centerline goodness [0,1] 0.8034717266277654 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.56, Z:-2.19 [[ 9.99994486e-01 -3.18409729e-03 9.43596801e-04 7.43145528e+00] [ 3.18382126e-03 9.99994888e-01 2.93893350e-04 -5.63833913e-01] [-9.44527763e-04 -2.90887486e-04 9.99999512e-01 -2.18938058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16719347 meters Centerline goodness [0,1] 0.8484956869345677 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.56, Z:-2.19 [[ 9.99992197e-01 -3.85830370e-03 8.47776865e-04 7.43167812e+00] [ 3.85931053e-03 9.99991846e-01 -1.18920305e-03 -5.59413376e-01] [-8.43181645e-04 1.19246561e-03 9.99998934e-01 -2.18942506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19719347 meters Centerline goodness [0,1] 0.847195032101884 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.55, Z:-2.19 [[ 9.99996515e-01 -2.58669991e-03 5.28872978e-04 7.43297227e+00] [ 2.58710270e-03 9.99996363e-01 -7.62349954e-04 -5.51768140e-01] [-5.26899084e-04 7.63715545e-04 9.99999570e-01 -2.19024167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22719347 meters Centerline goodness [0,1] 0.8450420591135072 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.55, Z:-2.19 [[ 9.99999190e-01 -1.25858672e-03 -1.90384394e-04 7.43566433e+00] [ 1.25861852e-03 9.99999194e-01 1.67022203e-04 -5.47101168e-01] [ 1.90174029e-04 -1.67261689e-04 9.99999968e-01 -2.19181481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25719347 meters Centerline goodness [0,1] 0.8566367949393779 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.54, Z:-2.19 [[ 9.99993534e-01 3.53100845e-03 -6.80405029e-04 7.43766550e+00] [-3.52887118e-03 9.99988915e-01 3.11718297e-03 -5.35518054e-01] [ 6.91404286e-04 -3.11476175e-03 9.99994910e-01 -2.19314228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28719347 meters Centerline goodness [0,1] 0.869421452791643 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:-2.19 [[ 9.99979868e-01 6.24340963e-03 -1.13289992e-03 7.43922877e+00] [-6.23798072e-03 9.99969338e-01 4.73392474e-03 -5.29658661e-01] [ 1.16242102e-03 -4.72676243e-03 9.99988153e-01 -2.19399492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31719347 meters Centerline goodness [0,1] 0.8866522985499362 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.52, Z:-2.20 [[ 9.99957991e-01 9.03418814e-03 -1.54921726e-03 7.44103784e+00] [-9.02400918e-03 9.99938441e-01 6.45611323e-03 -5.24103212e-01] [ 1.60744764e-03 -6.44186187e-03 9.99977959e-01 -2.19522082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34719347 meters Centerline goodness [0,1] 0.8968718634994981 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.52, Z:-2.20 [[ 9.99924496e-01 1.21493541e-02 -1.84248561e-03 7.44216416e+00] [-1.21330644e-02 9.99889334e-01 8.60864130e-03 -5.19407239e-01] [ 1.94687114e-03 -8.58563632e-03 9.99961248e-01 -2.19582539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37719347 meters Centerline goodness [0,1] 0.909228920235309 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.51, Z:-2.20 [[ 9.99878550e-01 1.54582633e-02 -1.98199439e-03 7.44264338e+00] [-1.54355569e-02 9.99820345e-01 1.10009954e-02 -5.14788825e-01] [ 2.15169460e-03 -1.09690661e-02 9.99937523e-01 -2.19594043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40719347 meters Centerline goodness [0,1] 0.9115541707019243 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.51, Z:-2.20 [[ 9.99763743e-01 2.16294087e-02 -2.15087055e-03 7.44301542e+00] [-2.15930559e-02 9.99643712e-01 1.56904190e-02 -5.06513148e-01] [ 2.48947871e-03 -1.56402682e-02 9.99874584e-01 -2.19565131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43719347 meters Centerline goodness [0,1] 0.9120124673574257 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.50, Z:-2.20 [[ 9.99774641e-01 2.10855420e-02 -2.46326245e-03 7.44383423e+00] [-2.10486550e-02 9.99678353e-01 1.41472664e-02 -5.01808906e-01] [ 2.76077293e-03 -1.40922298e-02 9.99896888e-01 -2.19598094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46719346999998 meters Centerline goodness [0,1] 0.9110637230306071 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.50, Z:-2.20 [[ 9.99787971e-01 2.04141470e-02 -2.69741831e-03 7.44470809e+00] [-2.03777246e-02 9.99709090e-01 1.29028704e-02 -4.98532608e-01] [ 2.96003470e-03 -1.28451674e-02 9.99913116e-01 -2.19655093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49719346999998 meters Centerline goodness [0,1] 0.9128379932662749 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.49, Z:-2.20 [[ 9.99872101e-01 1.57130779e-02 -2.98021837e-03 7.44530401e+00] [-1.56913690e-02 9.99851154e-01 7.17295454e-03 -4.93711558e-01] [ 3.09248397e-03 -7.12527341e-03 9.99969833e-01 -2.19685910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52719347 meters Centerline goodness [0,1] 0.9128931613120836 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.49, Z:-2.20 [[ 9.99881140e-01 1.51015715e-02 -3.10627003e-03 7.44559892e+00] [-1.50816173e-02 9.99866102e-01 6.34998777e-03 -4.92038699e-01] [ 3.20174890e-03 -6.30238543e-03 9.99975014e-01 -2.19692546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55719347 meters Centerline goodness [0,1] 0.9103426726382668 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.49, Z:-2.20 [[ 9.99885011e-01 1.47805939e-02 -3.39097684e-03 7.44643631e+00] [-1.47616121e-02 9.99875605e-01 5.55610254e-03 -4.89235424e-01] [ 3.47267752e-03 -5.50540737e-03 9.99978815e-01 -2.19721014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58719347 meters Centerline goodness [0,1] 0.9110567803397547 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.48, Z:-2.20 [[ 9.99894101e-01 1.41181982e-02 -3.53032613e-03 7.44668465e+00] [-1.41050499e-02 9.99893592e-01 3.72195075e-03 -4.82829920e-01] [ 3.58249771e-03 -3.67176118e-03 9.99986842e-01 -2.19714567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61719347 meters Centerline goodness [0,1] 0.9071475299132674 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.48, Z:-2.20 [[ 9.99902159e-01 1.34240032e-02 -3.93309772e-03 7.44802746e+00] [-1.34147464e-02 9.99907208e-01 2.37057535e-03 -4.79917200e-01] [ 3.96455537e-03 -2.31758190e-03 9.99989456e-01 -2.19790180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64719347 meters Centerline goodness [0,1] 0.9076163759465103 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.48, Z:-2.20 [[ 9.99907624e-01 1.29025579e-02 -4.27397236e-03 7.44907015e+00] [-1.28975154e-02 9.99916097e-01 1.20527261e-03 -4.77307912e-01] [ 4.28916486e-03 -1.15003764e-03 9.99990140e-01 -2.19840241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67719347 meters Centerline goodness [0,1] 0.9071962167025884 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.47, Z:-2.20 [[ 9.99906637e-01 1.28548580e-02 -4.63365139e-03 7.45012574e+00] [-1.28533366e-02 9.99917328e-01 3.57951078e-04 -4.74221094e-01] [ 4.63786973e-03 -2.98359777e-04 9.99989201e-01 -2.19885120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70719347 meters Centerline goodness [0,1] 0.9082185713984436 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.47, Z:-2.20 [[ 9.99871398e-01 1.53516861e-02 -4.63832906e-03 7.44978063e+00] [-1.53452173e-02 9.99881237e-01 1.42701850e-03 -4.66041570e-01] [ 4.65968534e-03 -1.35565881e-03 9.99988225e-01 -2.19814856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73719347 meters Centerline goodness [0,1] 0.9082946501711862 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.46, Z:-2.20 [[ 9.99880310e-01 1.46253236e-02 -5.04627635e-03 7.45060673e+00] [-1.46261255e-02 9.99893025e-01 -1.22050430e-04 -4.61448253e-01] [ 5.04395150e-03 1.95843293e-04 9.99987260e-01 -2.19808265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76719347 meters Centerline goodness [0,1] 0.9062579067217678 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.46, Z:-2.20 [[ 9.99888480e-01 1.40041123e-02 -5.18769553e-03 7.45073290e+00] [-1.40109720e-02 9.99901012e-01 -1.28834332e-03 -4.58481387e-01] [ 5.16913990e-03 1.36088430e-03 9.99985714e-01 -2.19777534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79719347 meters Centerline goodness [0,1] 0.905696535748131 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.46, Z:-2.20 [[ 9.99895591e-01 1.33830919e-02 -5.44973673e-03 7.45129221e+00] [-1.33958044e-02 9.99907620e-01 -2.30288597e-03 -4.56390167e-01] [ 5.41841355e-03 2.37564914e-03 9.99982498e-01 -2.19781470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82719347 meters Centerline goodness [0,1] 0.9077746633227255 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.45, Z:-2.20 [[ 9.99902363e-01 1.28089356e-02 -5.58526661e-03 7.45154279e+00] [-1.28310157e-02 9.99909934e-01 -3.93551818e-03 -4.51782226e-01] [ 5.53435377e-03 4.00679857e-03 9.99976658e-01 -2.19774723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85719347 meters Centerline goodness [0,1] 0.9089855438951405 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.45, Z:-2.20 [[ 9.99903446e-01 1.25220718e-02 -6.02459846e-03 7.45246940e+00] [-1.25512414e-02 9.99909572e-01 -4.82856274e-03 -4.49027292e-01] [ 5.96359006e-03 4.90371272e-03 9.99970194e-01 -2.19779310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88719347 meters Centerline goodness [0,1] 0.9055005268703898 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.45, Z:-2.20 [[ 9.99900702e-01 1.25068722e-02 -6.49345798e-03 7.45335174e+00] [-1.25419935e-02 9.99906784e-01 -5.39646606e-03 -4.46890382e-01] [ 6.42535977e-03 5.47737111e-03 9.99964356e-01 -2.19767725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91719347 meters Centerline goodness [0,1] 0.9057311420143279 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.45, Z:-2.20 [[ 9.99886691e-01 1.33624076e-02 -6.93182770e-03 7.45394588e+00] [-1.33999503e-02 9.99895645e-01 -5.39810512e-03 -4.45121935e-01] [ 6.85897265e-03 5.49037961e-03 9.99961404e-01 -2.19730108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94719347 meters Centerline goodness [0,1] 0.9062486823797277 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.44, Z:-2.20 [[ 9.99883426e-01 1.35504058e-02 -7.03711407e-03 7.45445951e+00] [-1.35893595e-02 9.99892438e-01 -5.51746366e-03 -4.43841047e-01] [ 6.96159327e-03 5.61245034e-03 9.99960018e-01 -2.19763389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97719347 meters Centerline goodness [0,1] 0.903643417390571 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.44, Z:-2.20 [[ 9.99878164e-01 1.37175786e-02 -7.44879670e-03 7.45580186e+00] [-1.37591532e-02 9.99889885e-01 -5.55911793e-03 -4.42826111e-01] [ 7.37171883e-03 5.66092976e-03 9.99956805e-01 -2.19836122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00719347 meters Centerline goodness [0,1] 0.9017629050987016 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.44, Z:-2.20 [[ 9.99865178e-01 1.44388478e-02 -7.81954579e-03 7.45715310e+00] [-1.44767340e-02 9.99883636e-01 -4.81033374e-03 -4.44248555e-01] [ 7.74918019e-03 4.92288668e-03 9.99957857e-01 -2.19931032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03719347 meters Centerline goodness [0,1] 0.9017629050987016 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.44, Z:-2.20 [[ 9.99865178e-01 1.44388478e-02 -7.81954579e-03 7.45715310e+00] [-1.44767340e-02 9.99883636e-01 -4.81033374e-03 -4.44248555e-01] [ 7.74918019e-03 4.92288668e-03 9.99957857e-01 -2.19931032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06719347 meters Centerline goodness [0,1] 0.902962698928564 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.45, Z:-2.20 [[ 9.99858578e-01 1.47774098e-02 -8.02816306e-03 7.45779140e+00] [-1.48101398e-02 9.99882191e-01 -4.03285393e-03 -4.46458166e-01] [ 7.96762214e-03 4.15118181e-03 9.99959642e-01 -2.19955148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09719347 meters Centerline goodness [0,1] 0.9026141732283465 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.45, Z:-2.20 [[ 9.99853747e-01 1.50332218e-02 -8.15399577e-03 7.45784994e+00] [-1.50606935e-02 9.99881075e-01 -3.31823527e-03 -4.48795943e-01] [ 8.10314229e-03 3.44055480e-03 9.99961250e-01 -2.19928493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12719347 meters Centerline goodness [0,1] 0.9036782384949593 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.45, Z:-2.20 [[ 9.99848671e-01 1.53432832e-02 -8.19864790e-03 7.45757599e+00] [-1.53657729e-02 9.99878329e-01 -2.68718517e-03 -4.50551552e-01] [ 8.15642011e-03 2.81275708e-03 9.99962780e-01 -2.19873292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15719347 meters Centerline goodness [0,1] 0.9025083612040133 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.45, Z:-2.20 [[ 9.99834539e-01 1.60841707e-02 -8.49665915e-03 7.45817539e+00] [-1.60999049e-02 9.99868792e-01 -1.78666292e-03 -4.51972294e-01] [ 8.46680733e-03 1.92316271e-03 9.99962307e-01 -2.19864782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18719347 meters Centerline goodness [0,1] 0.9039350142420086 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.45, Z:-2.20 [[ 9.99804590e-01 1.78907376e-02 -8.40848320e-03 7.45788374e+00] [-1.78939226e-02 9.99839845e-01 -3.03699481e-04 -4.53743517e-01] [ 8.40170313e-03 4.54100883e-04 9.99964602e-01 -2.19848109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21719346999998 meters Centerline goodness [0,1] 0.9047045651393202 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.45, Z:-2.20 [[ 9.99796359e-01 1.81951731e-02 -8.72793796e-03 7.45878199e+00] [-1.81962559e-02 9.99834433e-01 -4.46652680e-05 -4.54412926e-01] [ 8.72568021e-03 2.03471965e-04 9.99961910e-01 -2.19883956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24719346999998 meters Centerline goodness [0,1] 0.9063231850117096 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.46, Z:-2.20 [[ 9.99789327e-01 1.84517490e-02 -8.99084624e-03 7.45954938e+00] [-1.84494518e-02 9.99829737e-01 3.38379741e-04 -4.55881389e-01] [ 8.99555913e-03 -1.72432269e-04 9.99959524e-01 -2.19918135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27719347 meters Centerline goodness [0,1] 0.9071416511902752 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.46, Z:-2.20 [[ 9.99837692e-01 1.54425137e-02 -9.28003339e-03 7.45999475e+00] [-1.54703597e-02 9.99876015e-01 -2.93637273e-03 -4.56488976e-01] [ 9.23353783e-03 3.07946159e-03 9.99952628e-01 -2.19918524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30719347 meters Centerline goodness [0,1] 0.9026839972991222 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.46, Z:-2.20 [[ 9.99880482e-01 1.24616055e-02 -9.15044346e-03 7.45881073e+00] [-1.25029621e-02 9.99911815e-01 -4.47642154e-03 -4.63388648e-01] [ 9.09385313e-03 4.59029417e-03 9.99948114e-01 -2.19796958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33719347 meters Centerline goodness [0,1] 0.9023125408436452 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.47, Z:-2.20 [[ 9.99916599e-01 8.75365909e-03 -9.49569984e-03 7.45919764e+00] [-8.82236351e-03 9.99935033e-01 -7.21772306e-03 -4.66981025e-01] [ 9.43190145e-03 7.30089561e-03 9.99928866e-01 -2.19766130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36719347 meters Centerline goodness [0,1] 0.9028642328398385 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.47, Z:-2.20 [[ 9.99964453e-01 2.54138441e-03 -8.03952759e-03 7.46728095e+00] [-2.55388536e-03 9.99995545e-01 -1.54505102e-03 -4.72330052e-01] [ 8.03556520e-03 1.56552813e-03 9.99966489e-01 -2.19621011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39719347 meters Centerline goodness [0,1] 0.9010076310131119 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.48, Z:-2.20 [[ 9.99965561e-01 -1.60410366e-03 -8.14272223e-03 7.46715986e+00] [ 1.56978246e-03 9.99989865e-01 -4.21959669e-03 -4.77146013e-01] [ 8.14940837e-03 4.20666907e-03 9.99957945e-01 -2.19560151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42719347 meters Centerline goodness [0,1] 0.9025100189833368 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.48, Z:-2.19 [[ 9.99952240e-01 -5.56289013e-03 -8.03568173e-03 7.46660928e+00] [ 5.50930599e-03 9.99962545e-01 -6.67508962e-03 -4.82172654e-01] [ 8.07251354e-03 6.63049978e-03 9.99945434e-01 -2.19483075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45719347 meters Centerline goodness [0,1] 0.907916876998149 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.49, Z:-2.19 [[ 0.99987668 -0.01350431 -0.0080165 7.4660454 ] [ 0.01340504 0.99983437 -0.01231031 -0.48905467] [ 0.00818142 0.01220133 0.99989209 -2.19363017] [ 0. 0. 0. 1. ]] SLAMing on 180.48719347 meters Centerline goodness [0,1] 0.9066324599402784 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.49, Z:-2.19 [[ 0.99981393 -0.01737059 -0.00838814 7.46741466] [ 0.01724082 0.99973426 -0.01530219 -0.49222563] [ 0.00865171 0.01515473 0.99984773 -2.19428852] [ 0. 0. 0. 1. ]] SLAMing on 180.51719347 meters Centerline goodness [0,1] 0.896915909522103 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.50, Z:-2.20 [[ 0.99974751 -0.02064585 -0.00886955 7.46962334] [ 0.02048603 0.99963261 -0.01774724 -0.49593718] [ 0.00923269 0.01756106 0.99980316 -2.19571644] [ 0. 0. 0. 1. ]] SLAMing on 180.54719347 meters Centerline goodness [0,1] 0.8695533138175768 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.50, Z:-2.20 [[ 0.99964672 -0.02486823 -0.00938085 7.47320366] [ 0.02467048 0.99948259 -0.02063758 -0.5028981 ] [ 0.00988921 0.02039886 0.99974301 -2.19882134] [ 0. 0. 0. 1. ]] SLAMing on 180.57719347 meters Centerline goodness [0,1] 0.8644103470775188 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.50, Z:-2.20 [[ 0.99964639 -0.02476621 -0.00968126 7.47430179] [ 0.02456928 0.99949892 -0.01995643 -0.5047855 ] [ 0.01017065 0.01971151 0.99975398 -2.19947427] [ 0. 0. 0. 1. ]] SLAMing on 180.60719347 meters Centerline goodness [0,1] 0.8677401046812268 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.51, Z:-2.20 [[ 0.99972282 -0.02131485 -0.00999783 7.47507335] [ 0.02115826 0.99965574 -0.01551524 -0.50688244] [ 0.01032509 0.01529941 0.99982965 -2.19976948] [ 0. 0. 0. 1. ]] SLAMing on 180.63719347 meters Centerline goodness [0,1] 0.8656154735624935 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.51, Z:-2.20 [[ 0.9997913 -0.01761083 -0.0103543 7.47592322] [ 0.01749617 0.99978574 -0.01106158 -0.50852643] [ 0.01054689 0.01087811 0.99988521 -2.19998886] [ 0. 0. 0. 1. ]] SLAMing on 180.66719347 meters Centerline goodness [0,1] 0.8819292333614154 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.51, Z:-2.20 [[ 9.99856554e-01 -1.31850811e-02 -1.06313241e-02 7.47634776e+00] [ 1.31177141e-02 9.99893594e-01 -6.38168164e-03 -5.10163880e-01] [ 1.07143359e-02 6.24130754e-03 9.99923122e-01 -2.20000487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69719347 meters Centerline goodness [0,1] 0.9020744100109179 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.51, Z:-2.20 [[ 9.99882635e-01 -1.02924920e-02 -1.13481891e-02 7.47908618e+00] [ 1.02579081e-02 9.99942576e-01 -3.10153193e-03 -5.10917670e-01] [ 1.13794599e-02 2.98475924e-03 9.99930797e-01 -2.20167112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72719347 meters Centerline goodness [0,1] 0.8921841340221279 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.51, Z:-2.20 [[ 9.99895099e-01 -7.87435814e-03 -1.21566786e-02 7.48239718e+00] [ 7.87032446e-03 9.99968956e-01 -3.79613180e-04 -5.11008509e-01] [ 1.21592904e-02 2.83896353e-04 9.99926033e-01 -2.20378047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75719347 meters Centerline goodness [0,1] 0.9065920188583937 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.51, Z:-2.20 [[ 9.99896324e-01 -7.46673713e-03 -1.23121437e-02 7.48303787e+00] [ 7.46136994e-03 9.99972048e-01 -4.81804170e-04 -5.08784888e-01] [ 1.23153971e-02 3.89888759e-04 9.99924087e-01 -2.20423260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78719347 meters Centerline goodness [0,1] 0.9069947969117154 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-2.20 [[ 9.99938630e-01 1.65515097e-03 -1.09542971e-02 7.49328133e+00] [-1.69291699e-03 9.99992653e-01 -3.43922412e-03 -5.04480977e-01] [ 1.09485242e-02 3.45755777e-03 9.99934085e-01 -2.20494499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81719347 meters Centerline goodness [0,1] 0.90542194092827 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-2.21 [[ 9.99919724e-01 5.84997897e-03 -1.12393847e-02 7.49414071e+00] [-5.84650068e-03 9.99982850e-01 3.42304927e-04 -5.03395560e-01] [ 1.12411945e-02 -2.76566377e-04 9.99936778e-01 -2.20529475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84719347 meters Centerline goodness [0,1] 0.9047558949117603 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-2.21 [[ 0.99982804 0.01465495 -0.01136317 7.4947397 ] [-0.0145642 0.9998617 0.00802854 -0.50165244] [ 0.01147926 -0.00786167 0.99990321 -2.20565438] [ 0. 0. 0. 1. ]] SLAMing on 180.87719347 meters Centerline goodness [0,1] 0.9054715865912353 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-2.21 [[ 0.99981359 0.01547467 -0.01154632 7.49484512] [-0.0153857 0.99985156 0.00775486 -0.49913842] [ 0.01166461 -0.00757577 0.99990327 -2.20531323] [ 0. 0. 0. 1. ]] SLAMing on 180.90719347 meters Centerline goodness [0,1] 0.9057046270864145 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.50, Z:-2.21 [[ 9.99801080e-01 1.60790655e-02 -1.18009954e-02 7.49526274e+00] [-1.59892900e-02 9.99842800e-01 7.66277841e-03 -4.97878908e-01] [ 1.19223506e-02 -7.47256460e-03 9.99901004e-01 -2.20519047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93719347 meters Centerline goodness [0,1] 0.9077395344925464 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.50, Z:-2.21 [[ 0.99979146 0.01643015 -0.01212821 7.49589378] [-0.01633714 0.99983667 0.00772836 -0.49784031] [ 0.0122532 -0.0075286 0.99989658 -2.20513019] [ 0. 0. 0. 1. ]] SLAMing on 180.96719346999998 meters Centerline goodness [0,1] 0.9092212941871256 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-2.20 [[ 9.99802144e-01 1.59397871e-02 -1.18994546e-02 7.49314732e+00] [-1.58534268e-02 9.99847554e-01 7.31689034e-03 -4.99317831e-01] [ 1.20142702e-02 -7.12679551e-03 9.99902428e-01 -2.20216616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99719346999998 meters Centerline goodness [0,1] 0.9070144756526686 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-2.20 [[ 9.99852061e-01 1.22215473e-02 -1.21032939e-02 7.49309612e+00] [-1.21799214e-02 9.99919672e-01 3.50698310e-03 -4.99062184e-01] [ 1.21451825e-02 -3.35904711e-03 9.99920603e-01 -2.20166576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02719347 meters Centerline goodness [0,1] 0.9061603834802084 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.50, Z:-2.20 [[ 9.99942380e-01 7.32848356e-03 -7.84408980e-03 7.50362366e+00] [-7.25961121e-03 9.99935165e-01 8.77291105e-03 -5.02077316e-01] [ 7.90787336e-03 -8.71546051e-03 9.99930751e-01 -2.20394528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05719347 meters Centerline goodness [0,1] 0.9072420530705717 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.51, Z:-2.20 [[ 9.99961804e-01 3.29893612e-03 -8.09364465e-03 7.50393638e+00] [-3.25360969e-03 9.99978987e-01 5.60703910e-03 -5.05436856e-01] [ 8.11197185e-03 -5.58049137e-03 9.99951526e-01 -2.20364464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08719347 meters Centerline goodness [0,1] 0.9044648857526881 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.51, Z:-2.20 [[ 9.99945828e-01 -6.62484577e-03 -8.02821412e-03 7.50304781e+00] [ 6.60467455e-03 9.99974972e-01 -2.53645519e-03 -5.14908308e-01] [ 8.04481682e-03 2.48329405e-03 9.99964556e-01 -2.20232928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11719347 meters Centerline goodness [0,1] 0.9064491621998059 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.52, Z:-2.20 [[ 9.99913158e-01 -1.03266406e-02 -8.18760800e-03 7.50354582e+00] [ 1.02848801e-02 9.99933969e-01 -5.12626325e-03 -5.19323516e-01] [ 8.24000444e-03 5.04160951e-03 9.99953341e-01 -2.20232185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14719347 meters Centerline goodness [0,1] 0.9076537172487933 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.52, Z:-2.20 [[ 9.99906636e-01 -1.06891698e-02 -8.51243710e-03 7.50469828e+00] [ 1.06560165e-02 9.99935498e-01 -3.93056710e-03 -5.23964444e-01] [ 8.55390253e-03 3.83949145e-03 9.99956044e-01 -2.20271322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17719347 meters Centerline goodness [0,1] 0.9066509115462525 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.53, Z:-2.20 [[ 9.99905314e-01 -1.06071488e-02 -8.76651509e-03 7.50554348e+00] [ 1.05833789e-02 9.99940204e-01 -2.75339376e-03 -5.27440683e-01] [ 8.79519654e-03 2.66035370e-03 9.99957783e-01 -2.20300246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20719347 meters Centerline goodness [0,1] 0.9052142706354233 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.53, Z:-2.20 [[ 9.99912952e-01 -9.55128820e-03 -9.10282064e-03 7.50605753e+00] [ 9.54889216e-03 9.99954361e-01 -3.06645976e-04 -5.34116626e-01] [ 9.10533406e-03 2.19697431e-04 9.99958521e-01 -2.20266049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23719347 meters Centerline goodness [0,1] 0.9048655732160974 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.54, Z:-2.20 [[ 9.99916983e-01 -8.86274152e-03 -9.35305070e-03 7.50645404e+00] [ 8.87104208e-03 9.99960293e-01 8.46357136e-04 -5.37188201e-01] [ 9.34517827e-03 -9.29258180e-04 9.99955901e-01 -2.20247576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26719347 meters Centerline goodness [0,1] 0.9038808853794783 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.54, Z:-2.20 [[ 9.99918075e-01 -8.29386205e-03 -9.74966878e-03 7.50750423e+00] [ 8.31036237e-03 9.99964102e-01 1.65310461e-03 -5.39383389e-01] [ 9.73560816e-03 -1.73399245e-03 9.99951104e-01 -2.20279224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29719347 meters Centerline goodness [0,1] 0.9044099011573878 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.54, Z:-2.20 [[ 9.99921629e-01 -7.64695710e-03 -9.91258504e-03 7.50789071e+00] [ 7.67167402e-03 9.99967552e-01 2.45786693e-03 -5.40717784e-01] [ 9.89346819e-03 -2.53372042e-03 9.99947848e-01 -2.20286133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32719347 meters Centerline goodness [0,1] 0.9064824205544286 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.54, Z:-2.20 [[ 9.99924233e-01 -7.07998654e-03 -1.00698959e-02 7.50840544e+00] [ 7.11406629e-03 9.99969075e-01 3.35253507e-03 -5.42445565e-01] [ 1.00458486e-02 -3.42391896e-03 9.99943677e-01 -2.20308440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35719347 meters Centerline goodness [0,1] 0.9052942417211559 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.55, Z:-2.20 [[ 9.99921200e-01 -7.16362876e-03 -1.03090188e-02 7.50967663e+00] [ 7.20961622e-03 9.99964195e-01 4.43066801e-03 -5.47757798e-01] [ 1.02769100e-02 -4.50464294e-03 9.99937045e-01 -2.20388302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38719347 meters Centerline goodness [0,1] 0.9000464605507688 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.55, Z:-2.20 [[ 9.99916948e-01 -7.21640542e-03 -1.06779969e-02 7.51067298e+00] [ 7.27252466e-03 9.99959898e-01 5.22613355e-03 -5.50912227e-01] [ 1.06398548e-02 -5.30335550e-03 9.99929331e-01 -2.20412727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41719347 meters Centerline goodness [0,1] 0.9063146342492929 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.55, Z:-2.20 [[ 9.99912119e-01 -7.43228755e-03 -1.09779382e-02 7.51165638e+00] [ 7.49612415e-03 9.99955168e-01 5.78533363e-03 -5.53522552e-01] [ 1.09344478e-02 -5.86711720e-03 9.99923004e-01 -2.20448138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44719347 meters Centerline goodness [0,1] 0.9069678973730372 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.56, Z:-2.20 [[ 9.99910166e-01 -7.46165903e-03 -1.11348163e-02 7.51221486e+00] [ 7.53218315e-03 9.99951754e-01 6.30522009e-03 -5.55320971e-01] [ 1.10872317e-02 -6.38852314e-03 9.99918127e-01 -2.20462092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47719347 meters Centerline goodness [0,1] 0.9050528297939116 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.56, Z:-2.21 [[ 9.99952493e-01 -3.41455682e-03 -9.12980727e-03 7.52621829e+00] [ 3.42434917e-03 9.99993578e-01 1.05715241e-03 -5.57697822e-01] [ 9.12613893e-03 -1.08836584e-03 9.99957764e-01 -2.20833569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50719347 meters Centerline goodness [0,1] 0.9032979082321188 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.56, Z:-2.21 [[ 9.99952845e-01 -2.49071430e-03 -9.38641202e-03 7.52628568e+00] [ 2.50968674e-03 9.99994831e-01 2.01002988e-03 -5.59108020e-01] [ 9.38135709e-03 -2.03349205e-03 9.99953926e-01 -2.20776190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53719347 meters Centerline goodness [0,1] 0.9043560407263567 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.56, Z:-2.21 [[ 9.99951109e-01 -1.99366661e-03 -9.68524714e-03 7.52653656e+00] [ 2.01799211e-03 9.99994833e-01 2.50248062e-03 -5.60106147e-01] [ 9.68020798e-03 -2.52190303e-03 9.99949966e-01 -2.20717797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56719347 meters Centerline goodness [0,1] 0.9063180367371959 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.56, Z:-2.21 [[ 9.99951227e-01 -1.33963593e-03 -9.78517732e-03 7.52587284e+00] [ 1.37185007e-03 9.99993660e-01 3.28616618e-03 -5.61306502e-01] [ 9.78071301e-03 -3.29942970e-03 9.99946724e-01 -2.20590998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59719347 meters Centerline goodness [0,1] 0.9082520376705098 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.56, Z:-2.20 [[ 9.99951743e-01 -8.30797807e-04 -9.78886572e-03 7.52512958e+00] [ 8.74108981e-04 9.99989845e-01 4.42108713e-03 -5.64227630e-01] [ 9.78509329e-03 -4.42943031e-03 9.99942314e-01 -2.20448470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62719347 meters Centerline goodness [0,1] 0.9072960470984021 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.57, Z:-2.20 [[ 9.99949044e-01 -7.81160445e-04 -1.00647041e-02 7.52545346e+00] [ 8.30581648e-04 9.99987615e-01 4.90710449e-03 -5.65892666e-01] [ 1.00607463e-02 -4.91521400e-03 9.99937309e-01 -2.20401398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65719347 meters Centerline goodness [0,1] 0.9093649221170668 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.57, Z:-2.20 [[ 9.99948858e-01 -2.22167710e-03 -9.86635624e-03 7.52344214e+00] [ 2.25726534e-03 9.99990982e-01 3.59735912e-03 -5.67435569e-01] [ 9.85827509e-03 -3.61944613e-03 9.99944855e-01 -2.20190243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68719347 meters Centerline goodness [0,1] 0.9116413925450032 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.57, Z:-2.20 [[ 9.99980276e-01 -3.08716071e-03 -5.46969328e-03 7.53930333e+00] [ 3.09509461e-03 9.99994170e-01 1.44264956e-03 -5.72919473e-01] [ 5.46520769e-03 -1.45955032e-03 9.99984000e-01 -2.20087114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71719346999998 meters Centerline goodness [0,1] 0.9114821495993624 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.58, Z:-2.20 [[ 9.99980130e-01 -2.73600383e-03 -5.67924148e-03 7.53975007e+00] [ 2.75068541e-03 9.99992891e-01 2.57893257e-03 -5.76143198e-01] [ 5.67214514e-03 -2.59450314e-03 9.99980547e-01 -2.20077104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74719346999998 meters Centerline goodness [0,1] 0.9105789760120567 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.58, Z:-2.20 [[ 9.99977487e-01 -2.95269125e-03 -6.02559761e-03 7.54113850e+00] [ 2.97146765e-03 9.99990751e-01 3.10953602e-03 -5.78901046e-01] [ 6.01636038e-03 -3.12737088e-03 9.99977011e-01 -2.20153180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77719347 meters Centerline goodness [0,1] 0.9099574037366623 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.58, Z:-2.20 [[ 9.99965461e-01 -5.60357627e-03 -6.13814960e-03 7.54164129e+00] [ 5.61298948e-03 9.99983096e-01 1.51740493e-03 -5.84851502e-01] [ 6.12954295e-03 -1.55180589e-03 9.99980010e-01 -2.20174099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80719347 meters Centerline goodness [0,1] 0.9086882237549833 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.59, Z:-2.20 [[ 9.99966262e-01 -5.22274399e-03 -6.34015136e-03 7.54227653e+00] [ 5.24051384e-03 9.99982378e-01 2.78937745e-03 -5.88830086e-01] [ 6.32547143e-03 -2.82250900e-03 9.99976011e-01 -2.20190426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83719347 meters Centerline goodness [0,1] 0.9085556808217462 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:-2.21 [[ 9.99986233e-01 -2.05119214e-03 -4.82972569e-03 7.55677726e+00] [ 2.04044403e-03 9.99995433e-01 -2.22928470e-03 -5.92307547e-01] [ 4.83427633e-03 2.21939923e-03 9.99985852e-01 -2.20588321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86719347 meters Centerline goodness [0,1] 0.9076050278387042 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.60, Z:-2.21 [[ 9.99985861e-01 -1.49335871e-03 -5.10366044e-03 7.55722505e+00] [ 1.48850576e-03 9.99998437e-01 -9.54542172e-04 -5.95599854e-01] [ 5.10507793e-03 9.46931848e-04 9.99986521e-01 -2.20567820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89719347 meters Centerline goodness [0,1] 0.9076050278387042 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.60, Z:-2.21 [[ 9.99985861e-01 -1.49335871e-03 -5.10366044e-03 7.55722505e+00] [ 1.48850576e-03 9.99998437e-01 -9.54542172e-04 -5.95599854e-01] [ 5.10507793e-03 9.46931848e-04 9.99986521e-01 -2.20567820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92719347 meters Centerline goodness [0,1] 0.9058329995573076 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.60, Z:-2.21 [[ 9.99984017e-01 -4.90228495e-04 -5.63256499e-03 7.55893414e+00] [ 4.94818181e-04 9.99999547e-01 8.13483644e-04 -6.00204159e-01] [ 5.63216364e-03 -8.16257737e-04 9.99983806e-01 -2.20666351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95719347 meters Centerline goodness [0,1] 0.9004256933322093 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.60, Z:-2.21 [[ 9.99981475e-01 -2.94386569e-04 -6.07969979e-03 7.56038933e+00] [ 3.03355385e-04 9.99998867e-01 1.47433749e-03 -6.02269258e-01] [ 6.07925888e-03 -1.47615449e-03 9.99980432e-01 -2.20741353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98719347 meters Centerline goodness [0,1] 0.9040358556558528 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.60, Z:-2.21 [[ 9.99976849e-01 -8.67881389e-04 -6.74897490e-03 7.56275165e+00] [ 8.77679800e-04 9.99998565e-01 1.44901081e-03 -6.04554581e-01] [ 6.74770765e-03 -1.45490071e-03 9.99976176e-01 -2.20864382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01719347 meters Centerline goodness [0,1] 0.9031148400629261 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.61, Z:-2.21 [[ 9.99976817e-01 -7.07172760e-04 -6.77243342e-03 7.56266774e+00] [ 7.23101493e-04 9.99996978e-01 2.34983580e-03 -6.07822359e-01] [ 6.77075121e-03 -2.35467848e-03 9.99974306e-01 -2.20823150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04719347 meters Centerline goodness [0,1] 0.9071231549912618 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.61, Z:-2.21 [[ 9.99972097e-01 -3.35634941e-03 -6.67377487e-03 7.56137857e+00] [ 3.35512759e-03 9.99994353e-01 -1.94264280e-04 -6.09595414e-01] [ 6.67438920e-03 1.71867493e-04 9.99977711e-01 -2.20677856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07719347 meters Centerline goodness [0,1] 0.9078317804079576 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.61, Z:-2.21 [[ 9.99970514e-01 -3.33520547e-03 -6.91722299e-03 7.56198979e+00] [ 3.33874523e-03 9.99994301e-01 5.00247415e-04 -6.12300392e-01] [ 6.91551515e-03 -5.23327510e-04 9.99975951e-01 -2.20666456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10719347 meters Centerline goodness [0,1] 0.9055340296495957 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.21 [[ 9.99968781e-01 -3.90583350e-03 -6.86889751e-03 7.56226036e+00] [ 3.91572430e-03 9.99991315e-01 1.42708127e-03 -6.16978453e-01] [ 6.86326391e-03 -1.45393343e-03 9.99975391e-01 -2.20658324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13719347 meters Centerline goodness [0,1] 0.9074425469112376 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.21 [[ 9.99965488e-01 -4.29629590e-03 -7.11093683e-03 7.56290784e+00] [ 4.31121112e-03 9.99988536e-01 2.08350664e-03 -6.19900069e-01] [ 7.10190395e-03 -2.11409148e-03 9.99972546e-01 -2.20645120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16719347 meters Centerline goodness [0,1] 0.9078747787983483 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.21 [[ 9.99963119e-01 -4.61320571e-03 -7.24429013e-03 7.56322960e+00] [ 4.63384550e-03 9.99985245e-01 2.83491573e-03 -6.22931658e-01] [ 7.23110519e-03 -2.86838009e-03 9.99969741e-01 -2.20609322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19719347 meters Centerline goodness [0,1] 0.910595818596572 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.62, Z:-2.21 [[ 9.99947154e-01 -6.54271012e-03 -7.92977010e-03 7.56554183e+00] [ 6.55344425e-03 9.99977644e-01 1.32842188e-03 -6.23728827e-01] [ 7.92090134e-03 -1.38031899e-03 9.99967676e-01 -2.20699468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22719347 meters Centerline goodness [0,1] 0.9103671479309837 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.62, Z:-2.21 [[ 9.99938880e-01 -7.35417516e-03 -8.25544486e-03 7.56659121e+00] [ 7.36254888e-03 9.99972412e-01 9.84394401e-04 -6.23000304e-01] [ 8.24797769e-03 -1.04511535e-03 9.99965439e-01 -2.20733667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25719347 meters Centerline goodness [0,1] 0.9091138336100195 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.62, Z:-2.21 [[ 9.99935433e-01 -7.44241696e-03 -8.58723475e-03 7.56746157e+00] [ 7.44988366e-03 9.99971898e-01 8.37851545e-04 -6.22120422e-01] [ 8.58075779e-03 -9.01771347e-04 9.99962778e-01 -2.20754247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28719347 meters Centerline goodness [0,1] 0.9115899898887765 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.20 [[ 9.99949808e-01 -6.08756993e-03 -7.95760856e-03 7.56404915e+00] [ 6.10490334e-03 9.99979041e-01 2.15574523e-03 -6.23637365e-01] [ 7.94431853e-03 -2.20421746e-03 9.99966014e-01 -2.20427622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31719347 meters Centerline goodness [0,1] 0.9133424455893177 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.20 [[ 9.99950725e-01 -6.00016240e-03 -7.90851667e-03 7.56334327e+00] [ 6.01915901e-03 9.99979051e-01 2.38043601e-03 -6.24391735e-01] [ 7.89406799e-03 -2.42792133e-03 9.99965894e-01 -2.20314213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34719347 meters Centerline goodness [0,1] 0.9158503258356107 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.20 [[ 9.99950478e-01 -6.00125965e-03 -7.93897369e-03 7.56303968e+00] [ 6.02094597e-03 9.99978853e-01 2.45813326e-03 -6.24119666e-01] [ 7.92405390e-03 -2.50581166e-03 9.99965465e-01 -2.20250023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37719347 meters Centerline goodness [0,1] 0.9165331421824928 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.20 [[ 9.99948111e-01 -6.22178247e-03 -8.06630450e-03 7.56327834e+00] [ 6.24028218e-03 9.99977952e-01 2.27031934e-03 -6.22916700e-01] [ 8.05200122e-03 -2.32053755e-03 9.99964890e-01 -2.20233505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40719347 meters Centerline goodness [0,1] 0.9176086727712872 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.20 [[ 9.99945003e-01 -6.43118394e-03 -8.28434828e-03 7.56376773e+00] [ 6.44887608e-03 9.99976978e-01 2.11067078e-03 -6.21627656e-01] [ 8.27058345e-03 -2.16397944e-03 9.99963457e-01 -2.20230789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43719347 meters Centerline goodness [0,1] 0.9146549365436828 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.20 [[ 9.99939557e-01 -6.88019198e-03 -8.57588887e-03 7.56484482e+00] [ 6.89489852e-03 9.99974808e-01 1.68648563e-03 -6.20163830e-01] [ 8.56406948e-03 -1.74551357e-03 9.99961804e-01 -2.20295518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46719346999998 meters Centerline goodness [0,1] 0.9114014601611647 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.62, Z:-2.20 [[ 9.99937447e-01 -6.86449093e-03 -8.83072507e-03 7.56584270e+00] [ 6.87826268e-03 9.99975174e-01 1.53010144e-03 -6.19586610e-01] [ 8.82000247e-03 -1.59074577e-03 9.99959838e-01 -2.20363437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49719346999998 meters Centerline goodness [0,1] 0.9116943618326644 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.62, Z:-2.21 [[ 9.99981017e-01 -3.40608926e-03 -5.13462253e-03 7.58044237e+00] [ 3.38635911e-03 9.99986869e-01 -3.84638079e-03 -6.18444496e-01] [ 5.14765622e-03 3.82892009e-03 9.99979420e-01 -2.20835829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52719347 meters Centerline goodness [0,1] 0.9109163313035966 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.21 [[ 9.99976620e-01 -2.20487309e-03 -6.47281571e-03 7.56134023e+00] [ 2.20234373e-03 9.99997496e-01 -3.97868630e-04 -6.17521550e-01] [ 6.47367675e-03 3.83603963e-04 9.99978972e-01 -2.20828626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55719347 meters Centerline goodness [0,1] 0.9118149781594885 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.62, Z:-2.21 [[ 9.99976811e-01 1.68490439e-03 -6.59831139e-03 7.56202420e+00] [-1.66658981e-03 9.99994747e-01 2.78016122e-03 -6.15204725e-01] [ 6.60296104e-03 -2.76910007e-03 9.99974366e-01 -2.20888579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58719347 meters Centerline goodness [0,1] 0.9096759268995395 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.61, Z:-2.21 [[ 9.99975448e-01 1.24847558e-03 -6.89529880e-03 7.56366556e+00] [-1.23762285e-03 9.99997989e-01 1.57797441e-03 -6.11851136e-01] [ 6.89725500e-03 -1.56940189e-03 9.99974982e-01 -2.21035316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61719347 meters Centerline goodness [0,1] 0.9096019031178291 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.61, Z:-2.21 [[ 9.99973674e-01 1.35751925e-03 -7.12801814e-03 7.56474715e+00] [-1.35347691e-03 9.99998921e-01 5.71899713e-04 -6.06341481e-01] [ 7.12878681e-03 -5.62237049e-04 9.99974432e-01 -2.21132444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64719347 meters Centerline goodness [0,1] 0.9088833975540291 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99970842e-01 7.61718502e-04 -7.59839726e-03 7.56635231e+00] [-7.64601274e-04 9.99999637e-01 -3.76494464e-04 -6.04114980e-01] [ 7.59810772e-03 3.82293230e-04 9.99971061e-01 -2.21222966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67719347 meters Centerline goodness [0,1] 0.9072130180009275 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99968821e-01 4.87988078e-04 -7.88155058e-03 7.56710412e+00] [-4.94761095e-04 9.99999510e-01 -8.57423882e-04 -6.02445031e-01] [ 7.88112830e-03 8.61296633e-04 9.99968572e-01 -2.21252510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70719347 meters Centerline goodness [0,1] 0.905267593763169 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99967231e-01 1.45943198e-04 -8.09422682e-03 7.56792186e+00] [-1.56101144e-04 9.99999201e-01 -1.25434437e-03 -6.01415225e-01] [ 8.09403729e-03 1.25556678e-03 9.99966454e-01 -2.21297828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73719347 meters Centerline goodness [0,1] 0.9045839403728806 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99964619e-01 -3.56411186e-04 -8.40435268e-03 7.56879719e+00] [ 3.44026788e-04 9.99998853e-01 -1.47496920e-03 -6.01387693e-01] [ 8.40486873e-03 1.47202569e-03 9.99963595e-01 -2.21322171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76719347 meters Centerline goodness [0,1] 0.9022683550726169 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99963491e-01 -1.70703719e-03 -8.37273927e-03 7.56878898e+00] [ 1.69051753e-03 9.99996611e-01 -1.97970950e-03 -6.02324109e-01] [ 8.37609034e-03 1.96548296e-03 9.99962988e-01 -2.21290978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79719347 meters Centerline goodness [0,1] 0.9008637901683445 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99958709e-01 -2.60782136e-03 -8.70509019e-03 7.56973756e+00] [ 2.58745598e-03 9.99993891e-01 -2.34992179e-03 -6.02408817e-01] [ 8.71116519e-03 2.32730072e-03 9.99959349e-01 -2.21301043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82719347 meters Centerline goodness [0,1] 0.8935679865912424 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99953195e-01 -3.42525927e-03 -9.04854959e-03 7.57047797e+00] [ 3.40067186e-03 9.99990488e-01 -2.73126625e-03 -6.01961008e-01] [ 9.05781882e-03 2.70036726e-03 9.99955331e-01 -2.21288065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85719347 meters Centerline goodness [0,1] 0.8834711790024474 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:-2.21 [[ 9.99949377e-01 -4.11303063e-03 -9.18295730e-03 7.57051516e+00] [ 4.08467094e-03 9.99986837e-01 -3.10491850e-03 -6.01222111e-01] [ 9.19560706e-03 3.06725197e-03 9.99953015e-01 -2.21238342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88719347 meters Centerline goodness [0,1] 0.8394399699536785 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.60, Z:-2.21 [[ 9.99959216e-01 -8.81195386e-03 -1.97905948e-03 7.57937129e+00] [ 8.81391763e-03 9.99960671e-01 9.85752208e-04 -5.99565978e-01] [ 1.97029524e-03 -1.00315527e-03 9.99997556e-01 -2.21474218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91719347 meters Centerline goodness [0,1] 0.8180229129812147 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.60, Z:-2.21 [[ 9.99954939e-01 -9.26298404e-03 -2.07753462e-03 7.57904311e+00] [ 9.26438191e-03 9.99956864e-01 6.64235472e-04 -5.98746312e-01] [ 2.07129220e-03 -6.83452615e-04 9.99997621e-01 -2.21389147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94719347 meters Centerline goodness [0,1] 0.799486077762332 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.60, Z:-2.21 [[ 9.99950256e-01 -9.68872752e-03 -2.36952401e-03 7.57934904e+00] [ 9.68931304e-03 9.99953030e-01 2.35753247e-04 -5.97657967e-01] [ 2.36712856e-03 -2.58700579e-04 9.99997165e-01 -2.21343270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97719347 meters Centerline goodness [0,1] 0.791047924400945 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.60, Z:-2.21 [[ 9.99945875e-01 -1.00444889e-02 -2.71190751e-03 7.58034151e+00] [ 1.00438738e-02 9.99949530e-01 -2.40323884e-04 -5.96293408e-01] [ 2.71418457e-03 2.13072820e-04 9.99996294e-01 -2.21382863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00719347 meters Centerline goodness [0,1] 0.7724609990131648 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.59, Z:-2.22 [[ 9.99950004e-01 -9.37624414e-03 -3.47491163e-03 7.58358004e+00] [ 9.37756508e-03 9.99955963e-01 3.64036494e-04 -5.94809816e-01] [ 3.47134531e-03 -3.96604504e-04 9.99993896e-01 -2.21595528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03719347 meters Centerline goodness [0,1] 0.7712576107495276 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.59, Z:-2.22 [[ 9.99969857e-01 -6.83607580e-03 -3.68134782e-03 7.58477216e+00] [ 6.84373541e-03 9.99974435e-01 2.07209209e-03 -5.88937295e-01] [ 3.66708872e-03 -2.09722380e-03 9.99991077e-01 -2.21700514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06719347 meters Centerline goodness [0,1] 0.7783424715309996 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.59, Z:-2.22 [[ 9.99984610e-01 -3.76226432e-03 -4.07744959e-03 7.58562047e+00] [ 3.78225472e-03 9.99980812e-01 4.90610082e-03 -5.86342559e-01] [ 4.05891330e-03 -4.92144727e-03 9.99979652e-01 -2.21708154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09719347 meters Centerline goodness [0,1] 0.7921628648104663 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.58, Z:-2.22 [[ 9.99981171e-01 -3.94215275e-03 -4.70297176e-03 7.58715905e+00] [ 3.95988600e-03 9.99985063e-01 3.76731352e-03 -5.81859853e-01] [ 4.68805019e-03 -3.78586582e-03 9.99981845e-01 -2.21755526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12719347 meters Centerline goodness [0,1] 0.9003353793583497 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.58, Z:-2.22 [[ 9.99988016e-01 -9.13781050e-04 -4.80974086e-03 7.58678504e+00] [ 9.40234750e-04 9.99984429e-01 5.50064144e-03 -5.75611578e-01] [ 4.80463959e-03 -5.50509781e-03 9.99973304e-01 -2.21674555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15719347 meters Centerline goodness [0,1] 0.878974596231494 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.57, Z:-2.22 [[ 9.99985872e-01 -1.40303071e-03 -5.12703656e-03 7.58784828e+00] [ 1.42381964e-03 9.99990771e-01 4.05336843e-03 -5.71502210e-01] [ 5.12130225e-03 -4.06061114e-03 9.99978642e-01 -2.21731707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18719347 meters Centerline goodness [0,1] 0.8468298015472586 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.57, Z:-2.22 [[ 9.99984480e-01 -1.67732052e-03 -5.31285602e-03 7.58874566e+00] [ 1.69129664e-03 9.99995119e-01 2.62722276e-03 -5.66628052e-01] [ 5.30842340e-03 -2.63616760e-03 9.99982435e-01 -2.21804629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21719346999998 meters Centerline goodness [0,1] 0.9085247833038795 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.56, Z:-2.22 [[ 9.99982135e-01 1.40652256e-03 -5.80950970e-03 7.59118801e+00] [-1.38355366e-03 9.99991219e-01 3.95580023e-03 -5.58229908e-01] [ 5.81502261e-03 -3.94769180e-03 9.99975300e-01 -2.22031958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24719346999998 meters Centerline goodness [0,1] 0.9108017911456573 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.55, Z:-2.22 [[ 9.99982116e-01 1.45501858e-03 -5.80083430e-03 7.59126175e+00] [-1.43781839e-03 9.99994561e-01 2.96819065e-03 -5.54196917e-01] [ 5.80512153e-03 -2.95979702e-03 9.99978770e-01 -2.22044759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27719347 meters Centerline goodness [0,1] 0.9114543766354352 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.55, Z:-2.22 [[ 9.99981439e-01 1.31620495e-03 -5.94891701e-03 7.59154831e+00] [-1.30452356e-03 9.99997214e-01 1.96707104e-03 -5.50935141e-01] [ 5.95148951e-03 -1.95927403e-03 9.99980370e-01 -2.22040472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30719347 meters Centerline goodness [0,1] 0.9122147877662157 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.55, Z:-2.22 [[ 9.99980621e-01 1.15490549e-03 -6.11747455e-03 7.59187258e+00] [-1.14904257e-03 9.99998877e-01 9.61817993e-04 -5.47610996e-01] [ 6.11857849e-03 -9.54770115e-04 9.99980826e-01 -2.22032601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33719347 meters Centerline goodness [0,1] 0.9121250528094634 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.54, Z:-2.22 [[ 9.99972592e-01 3.70662589e-03 -6.40914689e-03 7.59255560e+00] [-3.68964586e-03 9.99989658e-01 2.65914030e-03 -5.41848287e-01] [ 6.41893705e-03 -2.63541993e-03 9.99975926e-01 -2.22037142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36719347 meters Centerline goodness [0,1] 0.9112388653736813 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.54, Z:-2.22 [[ 9.99972695e-01 2.65888339e-03 -6.89490081e-03 7.59402882e+00] [-2.65136218e-03 9.99995880e-01 1.09974825e-03 -5.38080640e-01] [ 6.89779651e-03 -1.08143734e-03 9.99975625e-01 -2.22101947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39719347 meters Centerline goodness [0,1] 0.907790042422068 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.54, Z:-2.22 [[ 9.99972295e-01 1.93326886e-03 -7.18826403e-03 7.59463340e+00] [-1.93205673e-03 9.99998118e-01 1.75566144e-04 -5.36127844e-01] [ 7.18858992e-03 -1.61673146e-04 9.99974149e-01 -2.22104911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42719347 meters Centerline goodness [0,1] 0.9068305953309854 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.54, Z:-2.22 [[ 9.99971654e-01 1.24320212e-03 -7.42607683e-03 7.59507754e+00] [-1.24746178e-03 9.99999060e-01 -5.69004720e-04 -5.35005017e-01] [ 7.42536247e-03 5.78252338e-04 9.99972264e-01 -2.22090688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45719347 meters Centerline goodness [0,1] 0.9043158668486821 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.53, Z:-2.22 [[ 9.99971654e-01 1.76762979e-04 -7.52724486e-03 7.59492510e+00] [-1.93442575e-04 9.99997528e-01 -2.21522605e-03 -5.31193694e-01] [ 7.52683468e-03 2.21661935e-03 9.99969216e-01 -2.22019151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48719347 meters Centerline goodness [0,1] 0.9043158668486821 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.53, Z:-2.22 [[ 9.99971654e-01 1.76762979e-04 -7.52724486e-03 7.59492510e+00] [-1.93442575e-04 9.99997528e-01 -2.21522605e-03 -5.31193694e-01] [ 7.52683468e-03 2.21661935e-03 9.99969216e-01 -2.22019151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51719347 meters Centerline goodness [0,1] 0.9075881844441165 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.52, Z:-2.22 [[ 9.99972791e-01 1.61046170e-03 -7.19891212e-03 7.59293984e+00] [-1.62236884e-03 9.99997325e-01 -1.64848649e-03 -5.24892134e-01] [ 7.19623804e-03 1.66012093e-03 9.99972729e-01 -2.21827612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54719347 meters Centerline goodness [0,1] 0.9119533772168882 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.52, Z:-2.22 [[ 9.99961396e-01 4.59040279e-03 -7.49230363e-03 7.59361490e+00] [-4.58232484e-03 9.99988902e-01 1.09497770e-03 -5.22367638e-01] [ 7.49724687e-03 -1.06060326e-03 9.99971333e-01 -2.21824517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57719347 meters Centerline goodness [0,1] 0.9143306096794469 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.52, Z:-2.22 [[ 9.99961022e-01 4.37493316e-03 -7.66899725e-03 7.59370061e+00] [-4.37625265e-03 9.99990412e-01 -1.55283154e-04 -5.18109351e-01] [ 7.66824436e-03 1.88838571e-04 9.99970581e-01 -2.21786410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60719347 meters Centerline goodness [0,1] 0.9174255968030287 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.51, Z:-2.22 [[ 9.99961739e-01 4.04404130e-03 -7.75670717e-03 7.59357152e+00] [-4.05358219e-03 9.99991046e-01 -1.21469102e-03 -5.14709439e-01] [ 7.75172546e-03 1.24608700e-03 9.99969179e-01 -2.21738757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63719347 meters Centerline goodness [0,1] 0.9193031300092803 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.51, Z:-2.22 [[ 9.99965140e-01 3.08470519e-03 -7.75910183e-03 7.59372469e+00] [-3.10629302e-03 9.99991334e-01 -2.77174828e-03 -5.10636584e-01] [ 7.75048457e-03 2.79575370e-03 9.99966056e-01 -2.21758057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66719347 meters Centerline goodness [0,1] 0.9207825192586218 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.51, Z:-2.22 [[ 9.99964020e-01 1.82790458e-03 -8.28362578e-03 7.59548140e+00] [-1.86008113e-03 9.99990749e-01 -3.87831754e-03 -5.09452856e-01] [ 8.27645996e-03 3.89358621e-03 9.99958169e-01 -2.21849292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69719347 meters Centerline goodness [0,1] 0.8645200613716135 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.51, Z:-2.22 [[ 9.99963898e-01 9.51959030e-04 -8.44369453e-03 7.59599716e+00] [-9.88799300e-04 9.99990007e-01 -4.35995002e-03 -5.09400379e-01] [ 8.43945965e-03 4.36814174e-03 9.99954846e-01 -2.21868464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72719347 meters Centerline goodness [0,1] 0.8771395568623332 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.51, Z:-2.22 [[ 9.99952295e-01 -4.40247358e-03 -8.71925818e-03 7.59751676e+00] [ 4.31955641e-03 9.99945489e-01 -9.50576840e-03 -5.07867434e-01] [ 8.76063178e-03 9.46765161e-03 9.99916804e-01 -2.21997063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75719347 meters Centerline goodness [0,1] 0.7706617228811595 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.51, Z:-2.22 [[ 9.99947118e-01 -4.73690024e-03 -9.12817436e-03 7.59887378e+00] [ 4.64834911e-03 9.99942171e-01 -9.69777902e-03 -5.07570573e-01] [ 9.17358390e-03 9.65483523e-03 9.99911311e-01 -2.22071476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78719347 meters Centerline goodness [0,1] 0.7498742454728371 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.51, Z:-2.22 [[ 9.99965036e-01 -6.20152703e-03 -5.60954745e-03 7.60939844e+00] [ 6.19635821e-03 9.99980362e-01 -9.38344312e-04 -5.07497242e-01] [ 5.61525646e-03 9.03552739e-04 9.99983826e-01 -2.22304363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81719347 meters Centerline goodness [0,1] 0.762840770235537 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.50, Z:-2.22 [[ 9.99978369e-01 -3.00270401e-03 -5.85200178e-03 7.61011766e+00] [ 3.00966961e-03 9.99994773e-01 1.18185064e-03 -5.01644567e-01] [ 5.84842244e-03 -1.19943766e-03 9.99982178e-01 -2.22338623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84719347 meters Centerline goodness [0,1] 0.762840770235537 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.50, Z:-2.22 [[ 9.99978369e-01 -3.00270401e-03 -5.85200178e-03 7.61011766e+00] [ 3.00966961e-03 9.99994773e-01 1.18185064e-03 -5.01644567e-01] [ 5.84842244e-03 -1.19943766e-03 9.99982178e-01 -2.22338623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87719347 meters Centerline goodness [0,1] 0.8861428902513537 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.50, Z:-2.22 [[ 9.99978469e-01 -5.20743309e-04 -6.54147024e-03 7.61261856e+00] [ 5.42357726e-04 9.99994398e-01 3.30287480e-03 -4.98563938e-01] [ 6.53971365e-03 -3.30635150e-03 9.99973150e-01 -2.22486020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90719347 meters Centerline goodness [0,1] 0.8975720789074355 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.49, Z:-2.22 [[ 9.99977765e-01 -5.04775725e-04 -6.64948373e-03 7.61288547e+00] [ 5.18830051e-04 9.99997635e-01 2.11204114e-03 -4.93832328e-01] [ 6.64840190e-03 -2.11544413e-03 9.99975662e-01 -2.22482765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93719347 meters Centerline goodness [0,1] 0.9060264287517885 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.49, Z:-2.23 [[ 9.99976025e-01 -1.75567349e-04 -6.92236265e-03 7.61368853e+00] [ 1.83571273e-04 9.99999315e-01 1.15562330e-03 -4.88936036e-01] [ 6.92215502e-03 -1.15686634e-03 9.99975372e-01 -2.22506503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96719346999998 meters Centerline goodness [0,1] 0.9127205589241131 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.49, Z:-2.23 [[ 9.99967932e-01 3.44955917e-03 -7.22747910e-03 7.61460001e+00] [-3.41932446e-03 9.99985370e-01 4.19148828e-03 -4.86124879e-01] [ 7.24183215e-03 -4.16664077e-03 9.99965097e-01 -2.22541137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99719346999998 meters Centerline goodness [0,1] 0.91617888575399 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.48, Z:-2.23 [[ 9.99904408e-01 1.16600216e-02 -7.43091095e-03 7.61505978e+00] [-1.15807819e-02 9.99876556e-01 1.06188061e-02 -4.80481378e-01] [ 7.55380915e-03 -1.05317353e-02 9.99916008e-01 -2.22531208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02719347 meters Centerline goodness [0,1] 0.9174036340720513 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.48, Z:-2.23 [[ 9.99849446e-01 1.56280195e-02 -7.53995072e-03 7.61532170e+00] [-1.55239534e-02 9.99786066e-01 1.36685128e-02 -4.77193900e-01] [ 7.75194946e-03 -1.35494051e-02 9.99878153e-01 -2.22513587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05719347 meters Centerline goodness [0,1] 0.9151698493729123 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.47, Z:-2.22 [[ 9.99782038e-01 1.94735065e-02 -7.52720550e-03 7.61517603e+00] [-1.93457932e-02 9.99673659e-01 1.66828128e-02 -4.73908948e-01] [ 7.84962193e-03 -1.65335568e-02 9.99832498e-01 -2.22470254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08719347 meters Centerline goodness [0,1] 0.9175014731879788 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 9.99677162e-01 2.43260977e-02 -7.33572880e-03 7.61439218e+00] [-2.41770098e-02 9.99512192e-01 1.97699120e-02 -4.68681412e-01] [ 7.81307519e-03 -1.95861735e-02 9.99777644e-01 -2.22366469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11719347 meters Centerline goodness [0,1] 0.9197482794182645 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 9.99670083e-01 2.45521794e-02 -7.54431020e-03 7.61451648e+00] [-2.44033316e-02 9.99517301e-01 1.92260912e-02 -4.66664302e-01] [ 8.01271101e-03 -1.90356419e-02 9.99786698e-01 -2.22322895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14719347 meters Centerline goodness [0,1] 0.9221959339209815 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 0.99966304 0.02478157 -0.00772514 7.61461643] [-0.02463098 0.99951576 0.01901487 -0.46575056] [ 0.00819262 -0.01881819 0.99978936 -2.22282771] [ 0. 0. 0. 1. ]] SLAMing on 184.17719347 meters Centerline goodness [0,1] 0.9227451557930614 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 0.9996598 0.02485325 -0.00791241 7.61468119] [-0.02470097 0.99951819 0.01879508 -0.46519539] [ 0.00837572 -0.01859324 0.99979205 -2.22241442] [ 0. 0. 0. 1. ]] SLAMing on 184.20719347 meters Centerline goodness [0,1] 0.9247641658087695 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 0.9997299 0.02186952 -0.00786509 7.61354942] [-0.02174818 0.999648 0.01519532 -0.46500898] [ 0.00819464 -0.01502017 0.99985361 -2.22105321] [ 0. 0. 0. 1. ]] SLAMing on 184.23719347 meters Centerline goodness [0,1] 0.9262609936819126 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 0.99979977 0.01835686 -0.00796475 7.61358841] [-0.01826519 0.99976779 0.01143412 -0.4652391 ] [ 0.00817279 -0.01128635 0.99990291 -2.22092097] [ 0. 0. 0. 1. ]] SLAMing on 184.26719347 meters Centerline goodness [0,1] 0.9258645986166422 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 9.99856256e-01 1.48610186e-02 -8.16200162e-03 7.61376975e+00] [-1.47984560e-02 9.99861058e-01 7.67275305e-03 -4.65324387e-01] [ 8.27489250e-03 -7.55086511e-03 9.99937253e-01 -2.22072420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29719347 meters Centerline goodness [0,1] 0.9259360653666344 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 9.99899447e-01 1.15330999e-02 -8.25130986e-03 7.61388047e+00] [-1.14987616e-02 9.99925079e-01 4.19696430e-03 -4.66009183e-01] [ 8.29909567e-03 -4.10166243e-03 9.99957150e-01 -2.22072175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32719347 meters Centerline goodness [0,1] 0.9249056842371488 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-2.22 [[ 9.99927702e-01 8.63285299e-03 -8.37040491e-03 7.61446969e+00] [-8.61874308e-03 9.99961378e-01 1.72030053e-03 -4.69827865e-01] [ 8.38493273e-03 -1.64803378e-03 9.99963488e-01 -2.22129482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35719347 meters Centerline goodness [0,1] 0.9256107834877844 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.47, Z:-2.22 [[ 9.99944411e-01 5.97128784e-03 -8.69017147e-03 7.61605047e+00] [-5.97995304e-03 9.99981648e-01 -9.71483119e-04 -4.71342669e-01] [ 8.68421098e-03 1.02339593e-03 9.99961768e-01 -2.22252209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38719347 meters Centerline goodness [0,1] 0.9241552990556139 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.47, Z:-2.23 [[ 9.99942409e-01 4.98900116e-03 -9.50203737e-03 7.61978782e+00] [-5.00353865e-03 9.99986347e-01 -1.50677604e-03 -4.74570054e-01] [ 9.49439033e-03 1.55423307e-03 9.99953719e-01 -2.22526613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41719347 meters Centerline goodness [0,1] 0.9227214214869057 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.48, Z:-2.23 [[ 9.99949047e-01 2.86912322e-03 -9.67838046e-03 7.62195214e+00] [-2.89163382e-03 9.99993145e-01 -2.31267310e-03 -4.82596051e-01] [ 9.67167877e-03 2.34054160e-03 9.99950489e-01 -2.22779382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44719347 meters Centerline goodness [0,1] 0.9215061702352072 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.49, Z:-2.23 [[ 9.99948516e-01 2.83453100e-03 -9.74324463e-03 7.62307847e+00] [-2.84765087e-03 9.99995057e-01 -1.33295204e-03 -4.86381707e-01] [ 9.73941817e-03 1.36062877e-03 9.99951645e-01 -2.22903600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47719347 meters Centerline goodness [0,1] 0.9182420254013497 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.49, Z:-2.23 [[ 9.99942280e-01 2.09112574e-03 -1.05387042e-02 7.62675732e+00] [-2.10343474e-03 9.99997118e-01 -1.15703140e-03 -4.89842828e-01] [ 1.05362544e-02 1.17913210e-03 9.99943797e-01 -2.23161894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50719347 meters Centerline goodness [0,1] 0.9120337197049526 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.50, Z:-2.23 [[ 9.99930032e-01 -4.12209203e-03 -1.10878509e-02 7.62904624e+00] [ 4.05639898e-03 9.99974126e-01 -5.94075601e-03 -4.96870305e-01] [ 1.11120524e-02 5.89536360e-03 9.99920880e-01 -2.23314623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53719347 meters Centerline goodness [0,1] 0.9091503405807798 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.50, Z:-2.23 [[ 9.99905390e-01 -7.68578675e-03 -1.14078779e-02 7.62994505e+00] [ 7.58977470e-03 9.99935614e-01 -8.43585968e-03 -5.01484471e-01] [ 1.14719796e-02 8.34847834e-03 9.99899343e-01 -2.23344096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56719347 meters Centerline goodness [0,1] 0.9077652512906964 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.51, Z:-2.23 [[ 0.99986325 -0.01174818 -0.01163901 7.63036193] [ 0.0116176 0.99986952 -0.01122376 -0.50587154] [ 0.01176935 0.01108701 0.99986927 -2.23317296] [ 0. 0. 0. 1. ]] SLAMing on 184.59719347 meters Centerline goodness [0,1] 0.910172315609643 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.51, Z:-2.23 [[ 0.99980587 -0.01586231 -0.01168826 7.63025732] [ 0.01569634 0.99977658 -0.01415711 -0.50958217] [ 0.01191022 0.0139709 0.99983147 -2.23257149] [ 0. 0. 0. 1. ]] SLAMing on 184.62719347 meters Centerline goodness [0,1] 0.9069426404659153 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.51, Z:-2.23 [[ 9.99751703e-01 -2.12827705e-02 -6.60124262e-03 7.63941847e+00] [ 2.12273584e-02 9.99739774e-01 -8.35366287e-03 -5.14422480e-01] [ 6.77731390e-03 8.21146173e-03 9.99943318e-01 -2.23409725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65719347 meters Centerline goodness [0,1] 0.8851660578578326 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99653642e-01 -2.54676077e-02 -6.63305270e-03 7.63909784e+00] [ 2.53894416e-02 9.99610177e-01 -1.16133719e-02 -5.17145622e-01] [ 6.92623178e-03 1.14409400e-02 9.99910562e-01 -2.23312846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68719347 meters Centerline goodness [0,1] 0.815566266074548 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99430483e-01 -3.31964508e-02 -6.05855464e-03 7.63661826e+00] [ 3.30798463e-02 9.99282840e-01 -1.84263164e-02 -5.19948774e-01] [ 6.66589799e-03 1.82154062e-02 9.99811865e-01 -2.23040600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71719346999998 meters Centerline goodness [0,1] 0.7916508858309136 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99414521e-01 -3.36383491e-02 -6.25113362e-03 7.63704980e+00] [ 3.35180565e-02 9.99267926e-01 -1.84432186e-02 -5.20467021e-01] [ 6.86695675e-03 1.82228946e-02 9.99810368e-01 -2.23034104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74719346999998 meters Centerline goodness [0,1] 0.7775345234085551 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99504385e-01 -3.08133455e-02 -6.44375288e-03 7.63747857e+00] [ 3.07152468e-02 9.99418514e-01 -1.48056816e-02 -5.21397416e-01] [ 6.89621851e-03 1.46004222e-02 9.99869626e-01 -2.23042047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77719347 meters Centerline goodness [0,1] 0.7729718369062631 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99590126e-01 -2.78839192e-02 -6.48584542e-03 7.63719928e+00] [ 2.78062862e-02 9.99544074e-01 -1.17666951e-02 -5.20216371e-01] [ 6.81098992e-03 1.15815250e-02 9.99909735e-01 -2.22997927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80719347 meters Centerline goodness [0,1] 0.7733097657976138 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99673315e-01 -2.47161134e-02 -6.50980334e-03 7.63652589e+00] [ 2.46614661e-02 9.99661027e-01 -8.34521484e-03 -5.20004295e-01] [ 6.71385797e-03 8.18194729e-03 9.99943988e-01 -2.22904845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83719347 meters Centerline goodness [0,1] 0.7745613666007489 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99748422e-01 -2.14266530e-02 -6.63256266e-03 7.63632254e+00] [ 2.13935053e-02 9.99758485e-01 -5.02897395e-03 -5.18681029e-01] [ 6.73871487e-03 4.88581501e-03 9.99965359e-01 -2.22849561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86719347 meters Centerline goodness [0,1] 0.9034153120525562 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.52, Z:-2.23 [[ 9.99811550e-01 -1.81901835e-02 -6.78099515e-03 7.63641996e+00] [ 1.81765052e-02 9.99832644e-01 -2.07336633e-03 -5.15629936e-01] [ 6.81757523e-03 1.94972081e-03 9.99974859e-01 -2.22834192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89719347 meters Centerline goodness [0,1] 0.9057591623036649 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.51, Z:-2.23 [[ 9.99852544e-01 -1.56036205e-02 -7.17065440e-03 7.63780356e+00] [ 1.56005501e-02 9.99878187e-01 -4.83928445e-04 -5.06679946e-01] [ 7.17733195e-03 3.71990934e-04 9.99974173e-01 -2.22920670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92719347 meters Centerline goodness [0,1] 0.8868819901745584 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.50, Z:-2.23 [[ 9.99839208e-01 -1.62982575e-02 -7.47834706e-03 7.63886208e+00] [ 1.62851298e-02 9.99865745e-01 -1.81298246e-03 -5.02747149e-01] [ 7.50689150e-03 1.69090510e-03 9.99970393e-01 -2.22976275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95719347 meters Centerline goodness [0,1] 0.8933880817014108 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.50, Z:-2.23 [[ 9.99874685e-01 -1.38598704e-02 -7.64966736e-03 7.63947218e+00] [ 1.38675678e-02 9.99903385e-01 9.54109824e-04 -5.01591989e-01] [ 7.63570445e-03 -1.06007254e-03 9.99970286e-01 -2.23014134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98719347 meters Centerline goodness [0,1] 0.8810751647056347 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.50, Z:-2.23 [[ 9.99852440e-01 -1.53316077e-02 -7.74852112e-03 7.63992560e+00] [ 1.53225597e-02 9.99881851e-01 -1.22572355e-03 -4.95673692e-01] [ 7.76639796e-03 1.10681551e-03 9.99969229e-01 -2.23037019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01719347 meters Centerline goodness [0,1] 0.8285432782005324 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.49, Z:-2.23 [[ 9.99834835e-01 -1.63103474e-02 -8.01716910e-03 7.64067157e+00] [ 1.62902394e-02 9.99864010e-01 -2.56705476e-03 -4.92071972e-01] [ 8.05794840e-03 2.43602917e-03 9.99964567e-01 -2.23057505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04719347 meters Centerline goodness [0,1] 0.819428667592242 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.49, Z:-2.23 [[ 9.99872828e-01 -1.37743662e-02 -8.03705601e-03 7.64094537e+00] [ 1.37777127e-02 9.99905018e-01 3.61151766e-04 -4.90507271e-01] [ 8.03131799e-03 -4.71838086e-04 9.99967637e-01 -2.23088731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07719347 meters Centerline goodness [0,1] 0.7922263864909251 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.48, Z:-2.23 [[ 9.99886040e-01 -1.25096270e-02 -8.45078095e-03 7.64293426e+00] [ 1.25194496e-02 9.99921012e-01 1.11042562e-03 -4.83003354e-01] [ 8.43622243e-03 -1.21609820e-03 9.99963675e-01 -2.23243135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10719347 meters Centerline goodness [0,1] 0.7741446468049269 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.48, Z:-2.23 [[ 9.99912534e-01 -1.00279154e-02 -8.62351494e-03 7.64385131e+00] [ 1.00588140e-02 9.99943117e-01 3.54718879e-03 -4.80221628e-01] [ 8.58745350e-03 -3.63362086e-03 9.99956525e-01 -2.23316918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13719347 meters Centerline goodness [0,1] 0.7620277078085642 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.48, Z:-2.23 [[ 9.99901110e-01 -1.07735409e-02 -9.03886682e-03 7.64494341e+00] [ 1.07917854e-02 9.99939822e-01 1.97210728e-03 -4.75794850e-01] [ 9.01707630e-03 -2.06945776e-03 9.99957204e-01 -2.23351506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16719347 meters Centerline goodness [0,1] 0.7794583481927458 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.47, Z:-2.23 [[ 9.99896919e-01 -1.11181964e-02 -9.08498543e-03 7.64487836e+00] [ 1.11249088e-02 9.99937879e-01 6.88644293e-04 -4.71389255e-01] [ 9.07676458e-03 -7.89642941e-04 9.99958494e-01 -2.23317338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19719347 meters Centerline goodness [0,1] 0.8122646471021353 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.47, Z:-2.23 [[ 9.99923419e-01 -8.49080419e-03 -9.00342297e-03 7.64424924e+00] [ 8.51566081e-03 9.99960025e-01 2.72606344e-03 -4.67404676e-01] [ 8.97991659e-03 -2.80252478e-03 9.99955752e-01 -2.23258350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22719347 meters Centerline goodness [0,1] 0.8094789901905419 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.45, Z:-2.24 [[ 9.99983724e-01 -3.32392122e-03 -4.63707748e-03 7.65830259e+00] [ 3.31990446e-03 9.99994107e-01 -8.73656175e-04 -4.52009667e-01] [ 4.63995412e-03 8.58247301e-04 9.99988867e-01 -2.23591304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25719347 meters Centerline goodness [0,1] 0.8762691555779781 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.44, Z:-2.24 [[ 9.99988084e-01 -1.87375165e-04 -4.87816777e-03 7.65880219e+00] [ 1.90352531e-04 9.99999796e-01 6.09888136e-04 -4.44159406e-01] [ 4.87805249e-03 -6.10809440e-04 9.99987916e-01 -2.23579589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28719347 meters Centerline goodness [0,1] 0.8846234838274932 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.44, Z:-2.24 [[ 9.99981875e-01 2.95048352e-03 -5.24818593e-03 7.65945288e+00] [-2.94082297e-03 9.99993969e-01 1.84750600e-03 -4.35750718e-01] [ 5.25360531e-03 -1.83203853e-03 9.99984522e-01 -2.23542244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31719347 meters Centerline goodness [0,1] 0.9183647772344756 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.42, Z:-2.23 [[ 9.99896834e-01 1.22299414e-02 -7.53320913e-03 7.66329726e+00] [-1.22301046e-02 9.99925209e-01 2.44077442e-05 -4.18995091e-01] [ 7.53294422e-03 6.77267091e-05 9.99971625e-01 -2.23275324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34719347 meters Centerline goodness [0,1] 0.917848637484457 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.41, Z:-2.23 [[ 9.99849669e-01 1.54157226e-02 -7.93689848e-03 7.66472140e+00] [-1.54030409e-02 9.99879994e-01 1.65647091e-03 -4.12654338e-01] [ 7.96148170e-03 -1.53396952e-03 9.99967130e-01 -2.23327062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37719347 meters Centerline goodness [0,1] 0.9173905745100508 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.41, Z:-2.23 [[ 9.99795832e-01 1.84232918e-02 -8.29920199e-03 7.66630285e+00] [-1.83948941e-02 9.99824725e-01 3.48518429e-03 -4.07280857e-01] [ 8.36195592e-03 -3.33180978e-03 9.99959488e-01 -2.23410408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40719347 meters Centerline goodness [0,1] 0.917104213046583 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.40, Z:-2.23 [[ 9.99749524e-01 2.07034744e-02 -8.50030402e-03 7.66646536e+00] [-2.06709207e-02 9.99778727e-01 3.89988522e-03 -3.97306559e-01] [ 8.57916431e-03 -3.72319929e-03 9.99956267e-01 -2.23327446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43719347 meters Centerline goodness [0,1] 0.9126372588129081 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.39, Z:-2.23 [[ 9.99762717e-01 1.99114932e-02 -8.83411079e-03 7.66687094e+00] [-1.98915212e-02 9.99799399e-01 2.34292212e-03 -3.92722673e-01] [ 8.87898974e-03 -2.16664228e-03 9.99958234e-01 -2.23277400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46719346999998 meters Centerline goodness [0,1] 0.9104858256929076 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.39, Z:-2.23 [[ 9.99767853e-01 1.94994271e-02 -9.16578977e-03 7.66729279e+00] [-1.94884737e-02 9.99809259e-01 1.28283767e-03 -3.89370321e-01] [ 9.18905608e-03 -1.10391261e-03 9.99957170e-01 -2.23233274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49719346999998 meters Centerline goodness [0,1] 0.9097926728956194 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.39, Z:-2.23 [[ 9.99768096e-01 1.92844809e-02 -9.58451228e-03 7.66831471e+00] [-1.92803315e-02 9.99813979e-01 5.25145290e-04 -3.87229158e-01] [ 9.59285652e-03 -3.40230933e-04 9.99953930e-01 -2.23251927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52719347 meters Centerline goodness [0,1] 0.9083428042261228 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.39, Z:-2.23 [[ 9.99763309e-01 1.93058599e-02 -1.00304642e-02 7.66965471e+00] [-1.93065758e-02 9.99813610e-01 2.54572062e-05 -3.85598815e-01] [ 1.00290861e-02 1.68202736e-04 9.99949693e-01 -2.23303926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55719347 meters Centerline goodness [0,1] 0.9073102925380678 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.38, Z:-2.23 [[ 9.99674018e-01 2.33473736e-02 -1.03324069e-02 7.67103231e+00] [-2.33106290e-02 9.99721561e-01 3.66252382e-03 -3.84385747e-01] [ 1.04150403e-02 -3.42047500e-03 9.99939912e-01 -2.23388635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58719347 meters Centerline goodness [0,1] 0.9078889378580872 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.38, Z:-2.23 [[ 9.99670895e-01 2.33110588e-02 -1.07096264e-02 7.67215343e+00] [-2.32763046e-02 9.99723429e-01 3.35841583e-03 -3.83109569e-01] [ 1.07849526e-02 -3.10803003e-03 9.99937010e-01 -2.23430925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61719347 meters Centerline goodness [0,1] 0.9062684677078936 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.38, Z:-2.23 [[ 9.99674057e-01 2.30845200e-02 -1.09034614e-02 7.67267875e+00] [-2.30521351e-02 9.99729500e-01 3.08656215e-03 -3.82598477e-01] [ 1.09717638e-02 -2.83420804e-03 9.99935792e-01 -2.23448767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64719347 meters Centerline goodness [0,1] 0.9042849310446628 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.38, Z:-2.23 [[ 9.99758885e-01 1.89775951e-02 -1.10463516e-02 7.67254321e+00] [-1.89870139e-02 9.99819450e-01 -7.48411874e-04 -3.82857167e-01] [ 1.10301542e-02 9.57968654e-04 9.99938707e-01 -2.23409704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67719347 meters Centerline goodness [0,1] 0.9033159033159033 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.38, Z:-2.23 [[ 9.99826818e-01 1.46730855e-02 -1.14470292e-02 7.67348691e+00] [-1.47252530e-02 9.99881513e-01 -4.48639375e-03 -3.84429323e-01] [ 1.13798436e-02 4.65417719e-03 9.99924416e-01 -2.23444253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70719347 meters Centerline goodness [0,1] 0.9033159033159033 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.38, Z:-2.23 [[ 9.99826818e-01 1.46730855e-02 -1.14470292e-02 7.67348691e+00] [-1.47252530e-02 9.99881513e-01 -4.48639375e-03 -3.84429323e-01] [ 1.13798436e-02 4.65417719e-03 9.99924416e-01 -2.23444253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73719347 meters Centerline goodness [0,1] 0.9090871030541542 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.39, Z:-2.24 [[ 0.99988106 0.00935029 -0.01226528 7.67614281] [-0.00946047 0.99991514 -0.00895603 -0.38670321] [ 0.0121805 0.009071 0.99988467 -2.23600957] [ 0. 0. 0. 1. ]] SLAMing on 185.76719347 meters Centerline goodness [0,1] 0.9064787547328566 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.39, Z:-2.24 [[ 9.99942068e-01 -5.11711980e-04 -1.07516790e-02 7.67067545e+00] [ 4.12314724e-04 9.99957179e-01 -9.24499602e-03 -3.90938933e-01] [ 1.07559494e-02 9.24002737e-03 9.99899461e-01 -2.24124315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79719347 meters Centerline goodness [0,1] 0.8939749444840156 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.39, Z:-2.24 [[ 9.99968281e-01 -4.39833836e-03 -6.64021200e-03 7.68132698e+00] [ 4.38630657e-03 9.99988714e-01 -1.82543582e-03 -3.92191286e-01] [ 6.64816594e-03 1.79625191e-03 9.99976287e-01 -2.24410674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82719347 meters Centerline goodness [0,1] 0.8805472208816802 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.39, Z:-2.24 [[ 9.99962846e-01 -4.91881969e-03 -7.07892287e-03 7.68256907e+00] [ 4.90236573e-03 9.99985246e-01 -2.33983683e-03 -3.90596356e-01] [ 7.09032766e-03 2.30504643e-03 9.99972207e-01 -2.24456255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85719347 meters Centerline goodness [0,1] 0.8815200568871042 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.39, Z:-2.25 [[ 9.99961636e-01 -4.04563044e-03 -7.76919165e-03 7.68548550e+00] [ 4.03423480e-03 9.99990764e-01 -1.48188495e-03 -3.89220154e-01] [ 7.77511505e-03 1.45048535e-03 9.99968721e-01 -2.24645168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88719347 meters Centerline goodness [0,1] 0.8971559594429719 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.39, Z:-2.25 [[ 9.99967053e-01 -6.71664925e-04 -8.08966094e-03 7.68622376e+00] [ 6.82060454e-04 9.99998945e-01 1.28234853e-03 -3.86824339e-01] [ 8.08879110e-03 -1.28782392e-03 9.99966456e-01 -2.24665402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91719347 meters Centerline goodness [0,1] 0.9039998308739589 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.38, Z:-2.25 [[ 9.99965923e-01 -4.18911241e-04 -8.24484861e-03 7.68628338e+00] [ 4.24406695e-04 9.99999689e-01 6.64793489e-04 -3.84376934e-01] [ 8.24456756e-03 -6.68270004e-04 9.99965790e-01 -2.24610451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94719347 meters Centerline goodness [0,1] 0.9040284111206842 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.38, Z:-2.25 [[ 9.99962908e-01 6.31142482e-05 -8.61270427e-03 7.68689507e+00] [-6.05025902e-05 9.99999952e-01 3.03493425e-04 -3.82239470e-01] [ 8.61272301e-03 -3.02961077e-04 9.99962864e-01 -2.24567481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97719347 meters Centerline goodness [0,1] 0.9061945781606283 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.38, Z:-2.24 [[ 9.99954652e-01 3.78406115e-03 -8.73924553e-03 7.68648786e+00] [-3.76131792e-03 9.99989501e-01 2.61739634e-03 -3.76429616e-01] [ 8.74905816e-03 -2.58440656e-03 9.99958387e-01 -2.24450809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00719347 meters Centerline goodness [0,1] 0.907910494799874 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99948326e-01 4.04100961e-03 -9.32817192e-03 7.68786434e+00] [-4.02226894e-03 9.99989856e-01 2.02692701e-03 -3.72368584e-01] [ 9.33626813e-03 -1.98930186e-03 9.99954437e-01 -2.24461986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03719347 meters Centerline goodness [0,1] 0.9064011439626529 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99945459e-01 4.16109240e-03 -9.57936716e-03 7.68796665e+00] [-4.14821472e-03 9.99990466e-01 1.36379142e-03 -3.69362216e-01] [ 9.58495070e-03 -1.32397977e-03 9.99953187e-01 -2.24389104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06719347 meters Centerline goodness [0,1] 0.9031537229108694 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99942969e-01 4.39198956e-03 -9.73493206e-03 7.68809585e+00] [-4.38104421e-03 9.99989747e-01 1.14537857e-03 -3.68328173e-01] [ 9.73986274e-03 -1.10266408e-03 9.99951958e-01 -2.24351446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09719347 meters Centerline goodness [0,1] 0.9023797960174842 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99938227e-01 5.28317402e-03 -9.77907304e-03 7.68827621e+00] [-5.26728723e-03 9.99984767e-01 1.64961356e-03 -3.69086761e-01] [ 9.78763928e-03 -1.59800247e-03 9.99950823e-01 -2.24353801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12719347 meters Centerline goodness [0,1] 0.8994892144033095 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99936176e-01 5.36562776e-03 -9.94251118e-03 7.68888032e+00] [-5.35077579e-03 9.99984530e-01 1.51978368e-03 -3.68588978e-01] [ 9.95051196e-03 -1.46648654e-03 9.99949417e-01 -2.24378678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15719347 meters Centerline goodness [0,1] 0.8992039088496694 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99930819e-01 5.62297125e-03 -1.03314377e-02 7.68992511e+00] [-5.60734862e-03 9.99983092e-01 1.54049021e-03 -3.67941170e-01] [ 1.03399252e-02 -1.48245167e-03 9.99945443e-01 -2.24406549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18719347 meters Centerline goodness [0,1] 0.8992071524966262 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99924060e-01 6.59757857e-03 -1.04089837e-02 7.68980023e+00] [-6.57643539e-03 9.99976245e-01 2.06416634e-03 -3.67883933e-01] [ 1.04223550e-02 -1.99555558e-03 9.99943695e-01 -2.24353760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21719346999998 meters Centerline goodness [0,1] 0.9002528445006321 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99920732e-01 6.68236594e-03 -1.06712573e-02 7.69004563e+00] [-6.65993684e-03 9.99975541e-01 2.13597893e-03 -3.68400945e-01] [ 1.06852696e-02 -2.06473972e-03 9.99940779e-01 -2.24307499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24719346999998 meters Centerline goodness [0,1] 0.8995911141086709 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99934693e-01 3.94923233e-03 -1.07244319e-02 7.69026227e+00] [-3.96171128e-03 9.99991500e-01 -1.14260616e-03 -3.67753625e-01] [ 1.07198284e-02 1.18501864e-03 9.99941839e-01 -2.24298929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27719347 meters Centerline goodness [0,1] 0.8983004501283076 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99930513e-01 4.16220768e-03 -1.10293133e-02 7.69119011e+00] [-4.16924248e-03 9.99991120e-01 -6.14911630e-04 -3.69463125e-01] [ 1.10266560e-02 6.60852783e-04 9.99938986e-01 -2.24330075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30719347 meters Centerline goodness [0,1] 0.8972491739102982 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.37, Z:-2.24 [[ 9.99938531e-01 1.67962029e-03 -1.09596351e-02 7.69031266e+00] [-1.70615056e-03 9.99995636e-01 -2.41182489e-03 -3.73754771e-01] [ 1.09555363e-02 2.43037542e-03 9.99937033e-01 -2.24231597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33719347 meters Centerline goodness [0,1] 0.8976658037086148 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.38, Z:-2.24 [[ 9.99938803e-01 1.47559802e-03 -1.09641874e-02 7.69037086e+00] [-1.49384785e-03 9.99997512e-01 -1.65649195e-03 -3.77890290e-01] [ 1.09617158e-02 1.67276941e-03 9.99938519e-01 -2.24224216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36719347 meters Centerline goodness [0,1] 0.901001322501417 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.38, Z:-2.24 [[ 9.99933691e-01 -1.54414588e-03 -1.14118427e-02 7.69159754e+00] [ 1.49545140e-03 9.99989747e-01 -4.27431505e-03 -3.80947947e-01] [ 1.14183258e-02 4.25696577e-03 9.99925747e-01 -2.24252585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39719347 meters Centerline goodness [0,1] 0.900405351479638 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.39, Z:-2.24 [[ 9.99930867e-01 -1.39502615e-03 -1.16753644e-02 7.69250534e+00] [ 1.35946890e-03 9.99994416e-01 -3.05287573e-03 -3.85847194e-01] [ 1.16795580e-02 3.03679239e-03 9.99927180e-01 -2.24302262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42719347 meters Centerline goodness [0,1] 0.9019186169091292 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.39, Z:-2.24 [[ 9.99919023e-01 -3.97623489e-03 -1.20887135e-02 7.69454997e+00] [ 3.92270622e-03 9.99982412e-01 -4.44847810e-03 -3.91783587e-01] [ 1.21061891e-02 4.40069740e-03 9.99917034e-01 -2.24456205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45719347 meters Centerline goodness [0,1] 0.9043401611820013 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.40, Z:-2.25 [[ 9.99959988e-01 -6.38228886e-03 -6.26805162e-03 7.70606219e+00] [ 6.39948742e-03 9.99975803e-01 2.72763158e-03 -3.96209715e-01] [ 6.25049142e-03 -2.76763476e-03 9.99976636e-01 -2.24868590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48719347 meters Centerline goodness [0,1] 0.9032962877371373 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.40, Z:-2.25 [[ 9.99962207e-01 -5.93159513e-03 -6.35608934e-03 7.70642627e+00] [ 5.95647259e-03 9.99974646e-01 3.90220100e-03 -3.99864732e-01] [ 6.33278191e-03 -3.93991340e-03 9.99972186e-01 -2.24882254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51719347 meters Centerline goodness [0,1] 0.9015463156340316 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.40, Z:-2.25 [[ 9.99962765e-01 -5.62937775e-03 -6.54053526e-03 7.70687388e+00] [ 5.66146214e-03 9.99971982e-01 4.89735200e-03 -4.03582901e-01] [ 6.51278296e-03 -4.93419864e-03 9.99966618e-01 -2.24893191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54719347 meters Centerline goodness [0,1] 0.9032799966402083 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.41, Z:-2.25 [[ 9.99951553e-01 -6.67859393e-03 -7.23098329e-03 7.71008754e+00] [ 6.70833617e-03 9.99969107e-01 4.09675550e-03 -4.06435722e-01] [ 7.20339933e-03 -4.14506489e-03 9.99965464e-01 -2.25116789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57719347 meters Centerline goodness [0,1] 0.903060047400323 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.41, Z:-2.25 [[ 9.99950919e-01 -6.18164694e-03 -7.74254177e-03 7.71305289e+00] [ 6.22525731e-03 9.99964824e-01 5.62118726e-03 -4.12866546e-01] [ 7.70752122e-03 -5.66911068e-03 9.99954227e-01 -2.25343706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60719347 meters Centerline goodness [0,1] 0.9029072956664839 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.42, Z:-2.25 [[ 9.99948456e-01 -6.21371448e-03 -8.02967684e-03 7.71377347e+00] [ 6.26498884e-03 9.99960045e-01 6.37630941e-03 -4.16239152e-01] [ 7.98973545e-03 -6.42628658e-03 9.99947432e-01 -2.25356974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63719347 meters Centerline goodness [0,1] 0.9012905402555775 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.42, Z:-2.25 [[ 9.99923405e-01 -9.10064455e-03 -8.38824478e-03 7.71479704e+00] [ 9.13315188e-03 9.99950899e-01 3.84521669e-03 -4.18937886e-01] [ 8.35283895e-03 -3.92153328e-03 9.99957425e-01 -2.25375483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66719347 meters Centerline goodness [0,1] 0.9052953370045437 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.43, Z:-2.26 [[ 9.99890993e-01 -1.45725425e-02 -2.37547131e-03 7.72663575e+00] [ 1.45888924e-02 9.99868953e-01 7.01725656e-03 -4.28753813e-01] [ 2.27290074e-03 -7.05114713e-03 9.99972557e-01 -2.25567184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69719347 meters Centerline goodness [0,1] 0.9057876322556169 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.43, Z:-2.25 [[ 9.99827300e-01 -1.84163710e-02 -2.49130428e-03 7.72626282e+00] [ 1.84258075e-02 9.99822935e-01 3.81937371e-03 -4.31042897e-01] [ 2.42052416e-03 -3.86461840e-03 9.99989603e-01 -2.25448032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72719347 meters Centerline goodness [0,1] 0.8878750842886042 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.43, Z:-2.25 [[ 9.99746543e-01 -2.23622929e-02 -2.60343514e-03 7.72584784e+00] [ 2.23639237e-02 9.99749717e-01 5.98995788e-04 -4.33354911e-01] [ 2.58938862e-03 -6.57066993e-04 9.99996432e-01 -2.25318096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75719347 meters Centerline goodness [0,1] 0.877358292585675 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.25 [[ 9.99645062e-01 -2.65026158e-02 -2.71301257e-03 7.72595780e+00] [ 2.64952075e-02 9.99645209e-01 -2.73114339e-03 -4.35807534e-01] [ 2.78443246e-03 2.65829217e-03 9.99992590e-01 -2.25252134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78719347 meters Centerline goodness [0,1] 0.8147617643341618 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.25 [[ 9.99532426e-01 -3.04506202e-02 -2.77302122e-03 7.72610183e+00] [ 3.04335292e-02 9.99518724e-01 -6.00996461e-03 -4.38444314e-01] [ 2.95469378e-03 5.92276168e-03 9.99978095e-01 -2.25201624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81719347 meters Centerline goodness [0,1] 0.7542955687816779 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.25 [[ 9.99386429e-01 -3.49040292e-02 -2.91118623e-03 7.72739164e+00] [ 3.48753587e-02 9.99347672e-01 -9.37765860e-03 -4.41504546e-01] [ 3.23660525e-03 9.27037607e-03 9.99951791e-01 -2.25298844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84719347 meters Centerline goodness [0,1] 0.7886309047237791 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.25 [[ 9.99490467e-01 -3.17632008e-02 -3.14718699e-03 7.72832619e+00] [ 3.17456727e-02 9.99481005e-01 -5.47112457e-03 -4.42571096e-01] [ 3.31933404e-03 5.36842728e-03 9.99980081e-01 -2.25375479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87719347 meters Centerline goodness [0,1] 0.80089513796525 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.25 [[ 9.99590126e-01 -2.84362829e-02 -3.31035768e-03 7.72880581e+00] [ 2.84306270e-02 9.99594248e-01 -1.74324811e-03 -4.42440148e-01] [ 3.35858599e-03 1.64841805e-03 9.99993001e-01 -2.25407781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90719347 meters Centerline goodness [0,1] 0.7937923653228683 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.26 [[ 9.99651920e-01 -2.61079447e-02 -3.79660764e-03 7.73048562e+00] [ 2.61074885e-02 9.99659127e-01 -1.69699293e-04 -4.38406051e-01] [ 3.79974398e-03 7.05203335e-05 9.99992778e-01 -2.25512341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93719347 meters Centerline goodness [0,1] 0.7981886570425939 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.26 [[ 9.99737218e-01 -2.25868612e-02 -3.91508989e-03 7.73117870e+00] [ 2.26001473e-02 9.99738860e-01 3.38320235e-03 -4.37850800e-01] [ 3.83765158e-03 -3.47079491e-03 9.99986613e-01 -2.25579548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96719346999998 meters Centerline goodness [0,1] 0.7609330671430072 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.44, Z:-2.26 [[ 9.99787575e-01 -2.00997662e-02 -4.56122047e-03 7.73311869e+00] [ 2.01252367e-02 9.99781735e-01 5.60868218e-03 -4.35019085e-01] [ 4.44749172e-03 -5.69928640e-03 9.99973869e-01 -2.25670793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99719346999998 meters Centerline goodness [0,1] 0.8401197731058769 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.43, Z:-2.26 [[ 9.99836797e-01 -1.74101480e-02 -4.82358847e-03 7.73370939e+00] [ 1.74441473e-02 9.99822641e-01 7.09850518e-03 -4.27332861e-01] [ 4.69914693e-03 -7.18149007e-03 9.99963171e-01 -2.25692844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02719347 meters Centerline goodness [0,1] 0.8314301936786322 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.43, Z:-2.26 [[ 9.99834180e-01 -1.72986876e-02 -5.68920808e-03 7.73686866e+00] [ 1.73372792e-02 9.99826538e-01 6.80540355e-03 -4.25146957e-01] [ 5.57049666e-03 -6.90291047e-03 9.99960659e-01 -2.25874162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05719347 meters Centerline goodness [0,1] 0.8267789669220864 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.42, Z:-2.26 [[ 9.99825238e-01 -1.77071141e-02 -5.99592094e-03 7.73815295e+00] [ 1.77437397e-02 9.99823890e-01 6.11133635e-03 -4.23300576e-01] [ 5.88665087e-03 -6.21665839e-03 9.99963350e-01 -2.25958266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08719347 meters Centerline goodness [0,1] 0.8160822478836369 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.42, Z:-2.26 [[ 9.99817587e-01 -1.79996071e-02 -6.38802403e-03 7.73965083e+00] [ 1.80344445e-02 9.99822575e-01 5.43850286e-03 -4.20812063e-01] [ 6.28899972e-03 -5.55271528e-03 9.99964807e-01 -2.26044677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11719347 meters Centerline goodness [0,1] 0.7916947439353099 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.41, Z:-2.26 [[ 9.99811093e-01 -1.80775274e-02 -7.14011824e-03 7.74150292e+00] [ 1.81124045e-02 9.99824191e-01 4.85058359e-03 -4.13880401e-01] [ 7.05117639e-03 -4.97899199e-03 9.99962745e-01 -2.26098994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14719347 meters Centerline goodness [0,1] 0.761896765255358 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.41, Z:-2.26 [[ 9.99804778e-01 -1.82159513e-02 -7.65412393e-03 7.74274071e+00] [ 1.82482037e-02 9.99824812e-01 4.16522585e-03 -4.11405474e-01] [ 7.57690947e-03 -4.30408672e-03 9.99962032e-01 -2.26109987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17719347 meters Centerline goodness [0,1] 0.8001645777946575 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.41, Z:-2.26 [[ 9.99805504e-01 -1.80884153e-02 -7.85898068e-03 7.74341773e+00] [ 1.81168136e-02 9.99829548e-01 3.55745177e-03 -4.08844069e-01] [ 7.79329244e-03 -3.69913954e-03 9.99962790e-01 -2.26128687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20719347 meters Centerline goodness [0,1] 0.8170600291588311 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.41, Z:-2.26 [[ 9.99840825e-01 -1.57554109e-02 -8.37211972e-03 7.74544465e+00] [ 1.58019747e-02 9.99859876e-01 5.52502744e-03 -4.06491410e-01] [ 8.28389750e-03 -5.65644401e-03 9.99949690e-01 -2.26252065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23719347 meters Centerline goodness [0,1] 0.84951579481541 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.40, Z:-2.26 [[ 0.99991762 -0.00921282 -0.00893705 7.74679019] [ 0.00930723 0.99990071 0.01058036 -0.39858818] [ 0.00883869 -0.01066267 0.99990409 -2.26302725] [ 0. 0. 0. 1. ]] SLAMing on 187.26719347 meters Centerline goodness [0,1] 0.8725432555014279 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.39, Z:-2.26 [[ 9.99932921e-01 -6.27027139e-03 -9.73848770e-03 7.74978971e+00] [ 6.39467330e-03 9.99897679e-01 1.27960873e-02 -3.94889213e-01] [ 9.65725631e-03 -1.28575034e-02 9.99870703e-01 -2.26478873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29719347 meters Centerline goodness [0,1] 0.8847512106409524 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.39, Z:-2.27 [[ 9.99941408e-01 -3.26527713e-03 -1.03208114e-02 7.75241344e+00] [ 3.42019262e-03 9.99881221e-01 1.50281730e-02 -3.91570910e-01] [ 1.02705144e-02 -1.50625916e-02 9.99833804e-01 -2.26658349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32719347 meters Centerline goodness [0,1] 0.8956017195010906 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.39, Z:-2.27 [[ 9.99942287e-01 5.44624863e-05 -1.07433130e-02 7.75406945e+00] [ 1.34060208e-04 9.99846041e-01 1.75464098e-02 -3.87863689e-01] [ 1.07426145e-02 -1.75468374e-02 9.99788330e-01 -2.26748733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35719347 meters Centerline goodness [0,1] 0.9091886195995785 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.38, Z:-2.27 [[ 9.99936817e-01 3.25076670e-03 -1.07607474e-02 7.75268312e+00] [-3.04836822e-03 9.99819139e-01 1.87722225e-02 -3.80192832e-01] [ 1.08198254e-02 -1.87382337e-02 9.99765878e-01 -2.26505153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38719347 meters Centerline goodness [0,1] 0.9035763932768861 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.38, Z:-2.26 [[ 9.99936320e-01 2.73325774e-03 -1.09491970e-02 7.75276979e+00] [-2.53874289e-03 9.99839413e-01 1.77398928e-02 -3.77930458e-01] [ 1.09959264e-02 -1.77109660e-02 9.99782682e-01 -2.26444230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41719347 meters Centerline goodness [0,1] 0.9106568237743706 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.37, Z:-2.26 [[ 9.99936612e-01 -9.69083075e-04 -1.12175569e-02 7.75318180e+00] [ 1.11562624e-03 9.99914029e-01 1.30648556e-02 -3.74922251e-01] [ 1.12039316e-02 -1.30765421e-02 9.99851727e-01 -2.26397484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44719347 meters Centerline goodness [0,1] 0.9120920899778224 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.37, Z:-2.26 [[ 9.99933819e-01 -1.63036085e-03 -1.13885758e-02 7.75334133e+00] [ 1.77051935e-03 9.99922690e-01 1.23077165e-02 -3.73838631e-01] [ 1.13676294e-02 -1.23270657e-02 9.99859400e-01 -2.26358763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47719347 meters Centerline goodness [0,1] 0.9119043098538067 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.37, Z:-2.26 [[ 9.99918401e-01 -5.40906932e-03 -1.15729956e-02 7.75381697e+00] [ 5.49860046e-03 9.99955095e-01 7.71842971e-03 -3.70392803e-01] [ 1.15307264e-02 -7.78143517e-03 9.99903241e-01 -2.26338610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50719347 meters Centerline goodness [0,1] 0.9122781158535301 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.37, Z:-2.26 [[ 9.99910346e-01 -6.32913204e-03 -1.18001143e-02 7.75390213e+00] [ 6.40459032e-03 9.99959215e-01 6.36792326e-03 -3.67467739e-01] [ 1.17593296e-02 -6.44292725e-03 9.99910099e-01 -2.26261342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53719347 meters Centerline goodness [0,1] 0.9133481059406985 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.37, Z:-2.26 [[ 9.99908391e-01 -6.48329024e-03 -1.18817871e-02 7.75356685e+00] [ 6.55468638e-03 9.99960638e-01 5.97981266e-03 -3.66490962e-01] [ 1.18425505e-02 -6.05714624e-03 9.99911529e-01 -2.26176165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56719347 meters Centerline goodness [0,1] 0.9134346555674676 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.37, Z:-2.26 [[ 9.99960499e-01 -3.87711228e-03 -7.99798123e-03 7.76137171e+00] [ 3.86654494e-03 9.99991632e-01 -1.33629096e-03 -3.65504237e-01] [ 8.00309525e-03 1.30531363e-03 9.99967123e-01 -2.26152313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59719347 meters Centerline goodness [0,1] 0.9066817857292848 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.36, Z:-2.26 [[ 9.99961971e-01 -2.69394774e-03 -8.29453766e-03 7.76235759e+00] [ 2.68776260e-03 9.99996102e-01 -7.56744860e-04 -3.64112297e-01] [ 8.29654395e-03 7.34422334e-04 9.99965313e-01 -2.26174778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62719347 meters Centerline goodness [0,1] 0.9160403107285324 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.36, Z:-2.26 [[ 9.99960962e-01 -1.94877167e-03 -8.61840286e-03 7.76396284e+00] [ 1.94515402e-03 9.99998017e-01 -4.28121099e-04 -3.62758993e-01] [ 8.61922007e-03 4.11340265e-04 9.99962769e-01 -2.26283182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65719347 meters Centerline goodness [0,1] 0.9160403107285324 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.36, Z:-2.26 [[ 9.99960962e-01 -1.94877167e-03 -8.61840286e-03 7.76396284e+00] [ 1.94515402e-03 9.99998017e-01 -4.28121099e-04 -3.62758993e-01] [ 8.61922007e-03 4.11340265e-04 9.99962769e-01 -2.26283182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68719347 meters Centerline goodness [0,1] 0.914131027825576 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.36, Z:-2.26 [[ 9.99958997e-01 -1.33971346e-03 -8.95595031e-03 7.76544216e+00] [ 1.33653979e-03 9.99999042e-01 -3.60339746e-04 -3.61172695e-01] [ 8.95642449e-03 3.48354987e-04 9.99959830e-01 -2.26367408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71719346999998 meters Centerline goodness [0,1] 0.916851230778966 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.36, Z:-2.26 [[ 9.99957566e-01 -7.99268998e-04 -9.17757927e-03 7.76634563e+00] [ 7.96262314e-04 9.99999628e-01 -3.31261141e-04 -3.60002790e-01] [ 9.17784062e-03 3.23939323e-04 9.99957830e-01 -2.26416580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74719346999998 meters Centerline goodness [0,1] 0.9137737961926091 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.36, Z:-2.27 [[ 9.99951154e-01 1.11340041e-03 -9.82088884e-03 7.76959844e+00] [-1.10522922e-03 9.99999039e-01 8.37409661e-04 -3.59472787e-01] [ 9.82181177e-03 -8.26514423e-04 9.99951423e-01 -2.26667575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77719347 meters Centerline goodness [0,1] 0.9123817966903074 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.36, Z:-2.27 [[ 9.99946191e-01 1.38937234e-03 -1.02803193e-02 7.77156498e+00] [-1.38012022e-03 9.99998636e-01 9.07023189e-04 -3.59216424e-01] [ 1.02815654e-02 -8.92786306e-04 9.99946745e-01 -2.26804329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80719347 meters Centerline goodness [0,1] 0.9111472845274085 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.36, Z:-2.27 [[ 9.99944437e-01 1.47299936e-03 -1.04380586e-02 7.77260322e+00] [-1.46160919e-03 9.99998328e-01 1.09875967e-03 -3.59370639e-01] [ 1.04396597e-02 -1.08344226e-03 9.99944918e-01 -2.26903720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83719347 meters Centerline goodness [0,1] 0.9110793604101444 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.36, Z:-2.27 [[ 9.99938207e-01 -1.68059145e-04 -1.11155060e-02 7.77530156e+00] [ 1.66761209e-04 9.99999979e-01 -1.17694715e-04 -3.60035832e-01] [ 1.11155255e-02 1.15833807e-04 9.99938214e-01 -2.27059200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86719347 meters Centerline goodness [0,1] 0.9123333053761638 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.36, Z:-2.27 [[ 9.99935969e-01 -8.81844779e-04 -1.12818123e-02 7.77590855e+00] [ 8.84850121e-04 9.99999574e-01 2.61399545e-04 -3.62904367e-01] [ 1.12815769e-02 -2.71365520e-04 9.99936324e-01 -2.27085648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89719347 meters Centerline goodness [0,1] 0.9109433962264151 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.37, Z:-2.27 [[ 9.99931894e-01 -2.09008977e-03 -1.14820755e-02 7.77647020e+00] [ 2.09436261e-03 9.99997742e-01 3.60119990e-04 -3.66235393e-01] [ 1.14812969e-02 -3.84143093e-04 9.99934014e-01 -2.27102012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92719347 meters Centerline goodness [0,1] 0.905863548414234 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.37, Z:-2.27 [[ 9.99890410e-01 -9.85676011e-03 -1.10459569e-02 7.77389404e+00] [ 9.78704660e-03 9.99931958e-01 -6.34760808e-03 -3.69115695e-01] [ 1.11077722e-02 6.23880515e-03 9.99918844e-01 -2.26837318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95719347 meters Centerline goodness [0,1] 0.8804267921278696 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.37, Z:-2.27 [[ 9.99876968e-01 -1.09467245e-02 -1.12346890e-02 7.77385483e+00] [ 1.08777599e-02 9.99921729e-01 -6.18139283e-03 -3.71817883e-01] [ 1.13014756e-02 6.05842407e-03 9.99917783e-01 -2.26771090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98719347 meters Centerline goodness [0,1] 0.8418721393769378 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.37, Z:-2.27 [[ 9.99862498e-01 -1.21319354e-02 -1.13049602e-02 7.77346531e+00] [ 1.20619764e-02 9.99907806e-01 -6.23611079e-03 -3.74138787e-01] [ 1.13795741e-02 6.09889314e-03 9.99916651e-01 -2.26698810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01719347 meters Centerline goodness [0,1] 0.8098111942331468 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.38, Z:-2.27 [[ 9.99862085e-01 -1.56639955e-02 -5.51823918e-03 7.78432679e+00] [ 1.56680256e-02 9.99877012e-01 6.87848090e-04 -3.77281403e-01] [ 5.50678606e-03 -7.74213137e-04 9.99984538e-01 -2.27032516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04719347 meters Centerline goodness [0,1] 0.7811780607826987 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.38, Z:-2.27 [[ 9.99848093e-01 -1.64971930e-02 -5.62436329e-03 7.78405455e+00] [ 1.65000451e-02 9.99863759e-01 4.61066107e-04 -3.77754228e-01] [ 5.61599073e-03 -5.53798316e-04 9.99984077e-01 -2.26955365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07719347 meters Centerline goodness [0,1] 0.7458596048759983 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.38, Z:-2.27 [[ 9.99822936e-01 -1.79459516e-02 -5.66028260e-03 7.78358175e+00] [ 1.79434014e-02 9.99838879e-01 -5.01007529e-04 -3.76635667e-01] [ 5.66836166e-03 3.99354096e-04 9.99983855e-01 -2.26855858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10719347 meters Centerline goodness [0,1] 0.7709654983455223 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.38, Z:-2.27 [[ 9.99866468e-01 -1.53772925e-02 -5.53032304e-03 7.78324202e+00] [ 1.53918089e-02 9.99878180e-01 2.59194527e-03 -3.76547430e-01] [ 5.48979223e-03 -2.67672083e-03 9.99981348e-01 -2.26848370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13719347 meters Centerline goodness [0,1] 0.7329157175398633 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.37, Z:-2.27 [[ 9.99860643e-01 -1.56435818e-02 -5.82860412e-03 7.78423492e+00] [ 1.56549266e-02 9.99875638e-01 1.90589047e-03 -3.73894027e-01] [ 5.79806430e-03 -1.99687124e-03 9.99981197e-01 -2.26889104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16719347 meters Centerline goodness [0,1] 0.7245416019804473 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.37, Z:-2.27 [[ 9.99854610e-01 -1.59128377e-02 -6.12701092e-03 7.78524014e+00] [ 1.59204047e-02 9.99872556e-01 1.18823053e-03 -3.71194472e-01] [ 6.10732195e-03 -1.28560227e-03 9.99980524e-01 -2.26924035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19719347 meters Centerline goodness [0,1] 0.7445361214335202 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.37, Z:-2.27 [[ 9.99885629e-01 -1.40401881e-02 -5.62153029e-03 7.78380310e+00] [ 1.40555489e-02 9.99897564e-01 2.70238542e-03 -3.66729739e-01] [ 5.58301244e-03 -2.78109004e-03 9.99980548e-01 -2.26855733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22719347 meters Centerline goodness [0,1] 0.7412515481663413 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.36, Z:-2.27 [[ 9.99880505e-01 -1.43221261e-02 -5.81819940e-03 7.78428511e+00] [ 1.43328532e-02 9.99895648e-01 1.80622284e-03 -3.63599404e-01] [ 5.79172331e-03 -1.88939841e-03 9.99981443e-01 -2.26850630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25719347 meters Centerline goodness [0,1] 0.7436246673511724 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.36, Z:-2.27 [[ 9.99908514e-01 -1.19685142e-02 -6.30218478e-03 7.78665494e+00] [ 1.19868274e-02 9.99924019e-01 2.87614446e-03 -3.56515301e-01] [ 6.26728276e-03 -2.95142453e-03 9.99976005e-01 -2.27028242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28719347 meters Centerline goodness [0,1] 0.754470108124027 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.35, Z:-2.27 [[ 9.99936963e-01 -9.11627191e-03 -6.55461793e-03 7.78792781e+00] [ 9.15105363e-03 9.99944103e-01 5.29618050e-03 -3.53735556e-01] [ 6.50597013e-03 -5.35582831e-03 9.99964493e-01 -2.27132583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31719347 meters Centerline goodness [0,1] 0.7587483955137513 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.35, Z:-2.27 [[ 9.99939121e-01 -8.68091138e-03 -6.81142162e-03 7.78917574e+00] [ 8.71342007e-03 9.99950720e-01 4.75760058e-03 -3.49936220e-01] [ 6.76978564e-03 -4.81666172e-03 9.99965484e-01 -2.27210918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34719347 meters Centerline goodness [0,1] 0.7735317017739526 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.35, Z:-2.27 [[ 9.99940056e-01 -8.35257573e-03 -7.07953242e-03 7.79014688e+00] [ 8.38175731e-03 9.99956457e-01 4.10236586e-03 -3.45867634e-01] [ 7.04495884e-03 -4.16145887e-03 9.99966525e-01 -2.27244747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37719347 meters Centerline goodness [0,1] 0.8522265929026693 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.34, Z:-2.27 [[ 9.99954356e-01 -5.75892782e-03 -7.62373493e-03 7.79178422e+00] [ 5.80660750e-03 9.99963630e-01 6.24681911e-03 -3.42132531e-01] [ 7.58748268e-03 -6.29080202e-03 9.99951427e-01 -2.27320170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40719347 meters Centerline goodness [0,1] 0.8759017845842298 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.34, Z:-2.28 [[ 9.99962026e-01 -1.24987106e-03 -8.62465919e-03 7.79512051e+00] [ 1.33027065e-03 9.99955659e-01 9.32262795e-03 -3.35385872e-01] [ 8.61262467e-03 -9.33374706e-03 9.99919349e-01 -2.27508696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43719347 meters Centerline goodness [0,1] 0.8765520585197208 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.33, Z:-2.28 [[ 9.99955334e-01 1.28214981e-03 -9.36410495e-03 7.79830413e+00] [-1.17797736e-03 9.99937458e-01 1.11217127e-02 -3.32699088e-01] [ 9.37777900e-03 -1.11101852e-02 9.99894305e-01 -2.27718567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46719346999998 meters Centerline goodness [0,1] 0.909749809821655 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.33, Z:-2.28 [[ 9.99949736e-01 2.36742488e-03 -9.74272677e-03 7.79954828e+00] [-2.26183861e-03 9.99938750e-01 1.08342309e-02 -3.29236663e-01] [ 9.76777925e-03 -1.08116499e-02 9.99893844e-01 -2.27753775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49719346999998 meters Centerline goodness [0,1] 0.9175127171412288 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.28 [[ 9.99925951e-01 7.24455142e-03 -9.77794870e-03 7.79932750e+00] [-7.11061589e-03 9.99881365e-01 1.36636638e-02 -3.23874306e-01] [ 9.87577581e-03 -1.35931248e-02 9.99858838e-01 -2.27642380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52719347 meters Centerline goodness [0,1] 0.9173381582546127 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.28 [[ 9.99921978e-01 7.64886785e-03 -9.87585692e-03 7.79921918e+00] [-7.52072250e-03 9.99887885e-01 1.29482008e-02 -3.20033806e-01] [ 9.97378877e-03 -1.28729169e-02 9.99867397e-01 -2.27554995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55719347 meters Centerline goodness [0,1] 0.9161763469782298 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.27 [[ 9.99919952e-01 7.75194819e-03 -9.99981566e-03 7.79877681e+00] [-7.62986116e-03 9.99896591e-01 1.21898409e-02 -3.17177198e-01] [ 1.00932766e-02 -1.21125679e-02 9.99875698e-01 -2.27424060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58719347 meters Centerline goodness [0,1] 0.9153834811366461 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.27 [[ 9.99917177e-01 7.79080042e-03 -1.02441420e-02 7.79863746e+00] [-7.66946200e-03 9.99900598e-01 1.18310741e-02 -3.16070311e-01] [ 1.03352972e-02 -1.17515271e-02 9.99877534e-01 -2.27327139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61719347 meters Centerline goodness [0,1] 0.914971572962729 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.27 [[ 9.99932501e-01 4.83790934e-03 -1.05635288e-02 7.79911033e+00] [-4.75227771e-03 9.99955769e-01 8.11645545e-03 -3.15577335e-01] [ 1.06023282e-02 -8.06570678e-03 9.99911264e-01 -2.27276932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64719347 meters Centerline goodness [0,1] 0.9104140738709473 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.31, Z:-2.27 [[ 9.99939489e-01 1.66875659e-03 -1.08735385e-02 7.80016048e+00] [-1.62120852e-03 9.99989093e-01 4.38017221e-03 -3.14617183e-01] [ 1.08807293e-02 -4.36227889e-03 9.99931288e-01 -2.27318300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67719347 meters Centerline goodness [0,1] 0.9107631848491816 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.27 [[ 9.99932619e-01 1.98301592e-03 -1.14378572e-02 7.80193287e+00] [-1.92714427e-03 9.99986169e-01 4.89375468e-03 -3.15735386e-01] [ 1.14474034e-02 -4.87138254e-03 9.99922610e-01 -2.27406336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70719347 meters Centerline goodness [0,1] 0.9079467968684233 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.27 [[ 9.99928894e-01 2.37539523e-03 -1.16860804e-02 7.80217359e+00] [-2.30626342e-03 9.99979784e-01 5.92566349e-03 -3.19197282e-01] [ 1.16999200e-02 -5.89829096e-03 9.99914157e-01 -2.27375301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73719347 meters Centerline goodness [0,1] 0.9094450261780105 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.32, Z:-2.27 [[ 9.99921710e-01 4.25892048e-04 -1.25056684e-02 7.80467813e+00] [-3.78542665e-04 9.99992753e-01 3.78835666e-03 -3.20495313e-01] [ 1.25071912e-02 -3.78332614e-03 9.99914625e-01 -2.27467796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76719347 meters Centerline goodness [0,1] 0.9075593041644702 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.32, Z:-2.27 [[ 9.99918213e-01 5.03384723e-04 -1.27794485e-02 7.80502576e+00] [-4.48474735e-04 9.99990658e-01 4.29924380e-03 -3.22587788e-01] [ 1.27814933e-02 -4.29316091e-03 9.99909097e-01 -2.27444198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79719347 meters Centerline goodness [0,1] 0.9057859918093037 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.32, Z:-2.27 [[ 9.99912889e-01 8.33042369e-04 -1.31727530e-02 7.80608426e+00] [-7.68097346e-04 9.99987530e-01 4.93454523e-03 -3.24452052e-01] [ 1.31766994e-02 -4.92399742e-03 9.99901060e-01 -2.27475616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82719347 meters Centerline goodness [0,1] 0.9070891288817918 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.33, Z:-2.27 [[ 9.99909913e-01 1.07887720e-03 -1.33791233e-02 7.80654473e+00] [-1.00720155e-03 9.99985113e-01 5.36285657e-03 -3.26027843e-01] [ 1.33847100e-02 -5.34889798e-03 9.99896114e-01 -2.27476293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85719347 meters Centerline goodness [0,1] 0.9039183432451812 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.33, Z:-2.27 [[ 9.99906597e-01 2.48491013e-03 -1.34395681e-02 7.80654499e+00] [-2.38762417e-03 9.99970868e-01 7.24997840e-03 -3.31229543e-01] [ 1.34571922e-02 -7.21721260e-03 9.99883401e-01 -2.27443958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88719347 meters Centerline goodness [0,1] 0.9073709353000335 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.33, Z:-2.28 [[ 9.99957073e-01 3.88771740e-03 -8.41059192e-03 7.81626505e+00] [-3.89088827e-03 9.99992365e-01 -3.60679520e-04 -3.32874646e-01] [ 8.40912549e-03 3.93388710e-04 9.99964565e-01 -2.27667261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91719347 meters Centerline goodness [0,1] 0.9065396932411933 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.34, Z:-2.28 [[ 9.99955701e-01 4.16849709e-03 -8.43919009e-03 7.81630705e+00] [-4.16416949e-03 9.99991189e-01 5.30303613e-04 -3.36126690e-01] [ 8.44132630e-03 -4.95137903e-04 9.99964249e-01 -2.27663321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94719347 meters Centerline goodness [0,1] 0.9047328693677593 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.34, Z:-2.28 [[ 9.99959006e-01 2.34493619e-03 -8.74572715e-03 7.81830935e+00] [-2.34727746e-03 9.99997212e-01 -2.57450139e-04 -3.42848703e-01] [ 8.74509906e-03 2.77968233e-04 9.99961722e-01 -2.27838510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97719347 meters Centerline goodness [0,1] 0.9023018764610492 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.35, Z:-2.28 [[ 9.99960974e-01 1.75113433e-03 -8.65930418e-03 7.81843944e+00] [-1.75227926e-03 9.99998457e-01 -1.24633610e-04 -3.47963981e-01] [ 8.65907257e-03 1.39802265e-04 9.99962500e-01 -2.27869562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00719347 meters Centerline goodness [0,1] 0.90265579916177 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.35, Z:-2.28 [[ 9.99958240e-01 -9.35277751e-04 -9.09080536e-03 7.82001064e+00] [ 9.16647279e-04 9.99997472e-01 -2.05332588e-03 -3.52312651e-01] [ 9.09270281e-03 2.04490708e-03 9.99956570e-01 -2.27962909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03719347 meters Centerline goodness [0,1] 0.9049565015903777 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.36, Z:-2.28 [[ 9.99951822e-01 -3.67739192e-03 -9.10113125e-03 7.81943083e+00] [ 3.65516065e-03 9.99990299e-01 -2.45812255e-03 -3.63012220e-01] [ 9.11008244e-03 2.42473803e-03 9.99955563e-01 -2.27881512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06719347 meters Centerline goodness [0,1] 0.9035398230088496 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.37, Z:-2.28 [[ 9.99936420e-01 -6.48697156e-03 -9.22359927e-03 7.81935670e+00] [ 6.44675743e-03 9.99969614e-01 -4.38298590e-03 -3.67977478e-01] [ 9.25175131e-03 4.32324492e-03 9.99947856e-01 -2.27825284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09719347 meters Centerline goodness [0,1] 0.9048312543531944 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.37, Z:-2.28 [[ 9.99937516e-01 -6.02174068e-03 -9.41818461e-03 7.81991110e+00] [ 5.99915688e-03 9.99979066e-01 -2.42430998e-03 -3.74895260e-01] [ 9.43258602e-03 2.36765733e-03 9.99952709e-01 -2.27852478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12719347 meters Centerline goodness [0,1] 0.9021210270236114 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.38, Z:-2.28 [[ 9.99940216e-01 -5.10658667e-03 -9.66891448e-03 7.82077544e+00] [ 5.10517785e-03 9.99986954e-01 -1.70381897e-04 -3.81419781e-01] [ 9.66965841e-03 1.21010183e-04 9.99953240e-01 -2.27903099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15719347 meters Centerline goodness [0,1] 0.9015143537142737 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.39, Z:-2.28 [[ 9.99946289e-01 -3.85138904e-03 -9.62215175e-03 7.82027606e+00] [ 3.87593828e-03 9.99989278e-01 2.53398170e-03 -3.91307792e-01] [ 9.61228923e-03 -2.57114047e-03 9.99950495e-01 -2.27834571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18719347 meters Centerline goodness [0,1] 0.9021777861619401 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.40, Z:-2.28 [[ 9.99946624e-01 -2.95448180e-03 -9.90047721e-03 7.82101533e+00] [ 2.99664747e-03 9.99986492e-01 4.24682864e-03 -3.95908598e-01] [ 9.88779630e-03 -4.27627020e-03 9.99941971e-01 -2.27846759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21719346999998 meters Centerline goodness [0,1] 0.9013468013468013 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.40, Z:-2.28 [[ 9.99946953e-01 -2.30788810e-03 -1.00381773e-02 7.82104563e+00] [ 2.36396267e-03 9.99981649e-01 5.57785734e-03 -4.00193092e-01] [ 1.00251200e-02 -5.60129133e-03 9.99934059e-01 -2.27812015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24719346999998 meters Centerline goodness [0,1] 0.9006675511192537 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.40, Z:-2.28 [[ 9.99946691e-01 -1.46863897e-03 -1.02205268e-02 7.82143839e+00] [ 1.54079291e-03 9.99973923e-01 7.05541983e-03 -4.04515542e-01] [ 1.02098984e-02 -7.07079142e-03 9.99922878e-01 -2.27812872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27719347 meters Centerline goodness [0,1] 0.8976334849250464 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.41, Z:-2.28 [[ 9.99947610e-01 1.10693335e-03 -1.01760105e-02 7.82150391e+00] [-1.00085590e-03 9.99945173e-01 1.04234553e-02 -4.12322218e-01] [ 1.01869906e-02 -1.04127245e-02 9.99893895e-01 -2.27821459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30719347 meters Centerline goodness [0,1] 0.8987768163540285 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.41, Z:-2.28 [[ 9.99950272e-01 -5.90801294e-04 -9.95514344e-03 7.82088801e+00] [ 6.74166393e-04 9.99964720e-01 8.37279925e-03 -4.14696794e-01] [ 9.94984557e-03 -8.37909431e-03 9.99915392e-01 -2.27772697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33719347 meters Centerline goodness [0,1] 0.9001556780409812 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.42, Z:-2.28 [[ 9.99951323e-01 -2.39180799e-03 -9.57243244e-03 7.82016483e+00] [ 2.45148580e-03 9.99977604e-01 6.22747101e-03 -4.17149274e-01] [ 9.55732314e-03 -6.25063456e-03 9.99934791e-01 -2.27743959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36719347 meters Centerline goodness [0,1] 0.9027821456276076 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.42, Z:-2.28 [[ 9.99951409e-01 -1.43502340e-03 -9.75298781e-03 7.82098947e+00] [ 1.50943028e-03 9.99969782e-01 7.62606253e-03 -4.20954151e-01] [ 9.74174952e-03 -7.64041343e-03 9.99923358e-01 -2.27793960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39719347 meters Centerline goodness [0,1] 0.907973018267136 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.43, Z:-2.28 [[ 9.99949922e-01 7.72458897e-04 -9.97778818e-03 7.82231394e+00] [-6.66410324e-04 9.99943305e-01 1.06274206e-02 -4.27937686e-01] [ 9.98543174e-03 -1.06202391e-02 9.99893745e-01 -2.27901829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42719347 meters Centerline goodness [0,1] 0.9105047748976808 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.43, Z:-2.28 [[ 9.99948350e-01 -1.86537525e-03 -9.99083692e-03 7.82245263e+00] [ 1.94506422e-03 9.99966328e-01 7.97243676e-03 -4.29887196e-01] [ 9.97562892e-03 -7.99145781e-03 9.99918308e-01 -2.27900367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45719347 meters Centerline goodness [0,1] 0.907757735738378 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.43, Z:-2.28 [[ 9.99938905e-01 -4.54477686e-03 -1.00762541e-02 7.82290760e+00] [ 4.60308646e-03 9.99972752e-01 5.77121272e-03 -4.33685245e-01] [ 1.00497506e-02 -5.81724200e-03 9.99932579e-01 -2.27913605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48719347 meters Centerline goodness [0,1] 0.9070858850516658 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.45, Z:-2.28 [[ 9.99906733e-01 -9.16603774e-03 -1.01246812e-02 7.82410388e+00] [ 9.19274046e-03 9.99954381e-01 2.59400625e-03 -4.45337999e-01] [ 1.01004425e-02 -2.68683789e-03 9.99945379e-01 -2.28033543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51719347 meters Centerline goodness [0,1] 0.9070858850516658 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.45, Z:-2.28 [[ 9.99906733e-01 -9.16603774e-03 -1.01246812e-02 7.82410388e+00] [ 9.19274046e-03 9.99954381e-01 2.59400625e-03 -4.45337999e-01] [ 1.01004425e-02 -2.68683789e-03 9.99945379e-01 -2.28033543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54719347 meters Centerline goodness [0,1] 0.9072965505693236 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.45, Z:-2.28 [[ 9.99878571e-01 -1.14966126e-02 -1.05200613e-02 7.82611849e+00] [ 1.15116931e-02 9.99932794e-01 1.37406365e-03 -4.52106715e-01] [ 1.05035572e-02 -1.49500052e-03 9.99943719e-01 -2.28168712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57719347 meters Centerline goodness [0,1] 0.9054466413075283 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.46, Z:-2.28 [[ 9.99849955e-01 -1.36775408e-02 -1.06297869e-02 7.82702076e+00] [ 1.36807792e-02 9.99906387e-01 2.31998293e-04 -4.58373394e-01] [ 1.06256187e-02 -3.77387250e-04 9.99943475e-01 -2.28228816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60719347 meters Centerline goodness [0,1] 0.9049609342182643 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.46, Z:-2.28 [[ 9.99815716e-01 -1.60715987e-02 -1.04994024e-02 7.82663313e+00] [ 1.60589924e-02 9.99870222e-01 -1.28388567e-03 -4.63611161e-01] [ 1.05186739e-02 1.11503925e-03 9.99944056e-01 -2.28191356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63719347 meters Centerline goodness [0,1] 0.8997998946814113 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.47, Z:-2.28 [[ 9.99829451e-01 -1.52641896e-02 -1.03958294e-02 7.82600134e+00] [ 1.52767520e-02 9.99882665e-01 1.13006300e-03 -4.70230484e-01] [ 1.03773601e-02 -1.28868477e-03 9.99945323e-01 -2.28112060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66719347 meters Centerline goodness [0,1] 0.906362419476282 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.48, Z:-2.28 [[ 9.99813127e-01 -1.61153282e-02 -1.06774514e-02 7.82695172e+00] [ 1.61408580e-02 9.99867061e-01 2.30915847e-03 -4.81677958e-01] [ 1.06388191e-02 -2.48107017e-03 9.99940328e-01 -2.28126942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69719347 meters Centerline goodness [0,1] 0.9087080130567547 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.49, Z:-2.28 [[ 9.99830279e-01 -1.49105919e-02 -1.08206733e-02 7.82762112e+00] [ 1.49619503e-02 9.99877107e-01 4.68099141e-03 -4.88494450e-01] [ 1.07495472e-02 -4.84209532e-03 9.99930498e-01 -2.28165564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72719347 meters Centerline goodness [0,1] 0.9124274245949402 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.49, Z:-2.28 [[ 9.99815905e-01 -1.53050443e-02 -1.15720174e-02 7.83019270e+00] [ 1.53617934e-02 9.99870329e-01 4.83111739e-03 -4.94975142e-01] [ 1.14965764e-02 -5.00799495e-03 9.99921371e-01 -2.28290447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75719347 meters Centerline goodness [0,1] 0.91582901391308 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.50, Z:-2.28 [[ 9.99825164e-01 -1.43963476e-02 -1.19326076e-02 7.83168052e+00] [ 1.44762807e-02 9.99873168e-01 6.63962665e-03 -5.02474643e-01] [ 1.18355078e-02 -6.81120558e-03 9.99906760e-01 -2.28367838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78719347 meters Centerline goodness [0,1] 0.9215768417083848 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.52, Z:-2.28 [[ 0.99982963 -0.01324922 -0.01285162 7.83468069] [ 0.01336289 0.99987199 0.00879952 -0.51576833] [ 0.01273339 -0.00896975 0.99987869 -2.28485274] [ 0. 0. 0. 1. ]] SLAMing on 189.81719347 meters Centerline goodness [0,1] 0.9221043361570075 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.52, Z:-2.29 [[ 0.99983429 -0.01255029 -0.01318683 7.83589496] [ 0.01269014 0.99986355 0.01057549 -0.52103077] [ 0.01305231 -0.01074108 0.99985712 -2.2853472 ] [ 0. 0. 0. 1. ]] SLAMing on 189.84719347 meters Centerline goodness [0,1] 0.9161291673647177 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.53, Z:-2.29 [[ 0.99983607 -0.01192405 -0.01362503 7.83721395] [ 0.01209142 0.99985162 0.01226897 -0.52598125] [ 0.01347672 -0.0124317 0.9998319 -2.28571933] [ 0. 0. 0. 1. ]] SLAMing on 189.87719347 meters Centerline goodness [0,1] 0.9260813902239385 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.53, Z:-2.29 [[ 0.99981436 -0.01291354 -0.01429975 7.83958338] [ 0.01308367 0.99984397 0.01186842 -0.53122565] [ 0.01414426 -0.01205331 0.99982731 -2.28684951] [ 0. 0. 0. 1. ]] SLAMing on 189.90719347 meters Centerline goodness [0,1] 0.9249868157367367 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.54, Z:-2.29 [[ 0.99978563 -0.01496693 -0.01430661 7.83938372] [ 0.01511861 0.99983001 0.01055337 -0.53678162] [ 0.01414623 -0.0107674 0.99984196 -2.28633139] [ 0. 0. 0. 1. ]] SLAMing on 189.93719347 meters Centerline goodness [0,1] 0.930178335118785 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.55, Z:-2.29 [[ 0.99972408 -0.01860608 -0.01433825 7.83940324] [ 0.01873046 0.99978767 0.00858969 -0.54997562] [ 0.01417538 -0.00885588 0.99986031 -2.28566783] [ 0. 0. 0. 1. ]] SLAMing on 189.96719346999998 meters Centerline goodness [0,1] 0.9296659289703868 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.56, Z:-2.28 [[ 9.99672908e-01 -2.12050328e-02 -1.42976715e-02 7.83909525e+00] [ 2.13087076e-02 9.99747460e-01 7.13822729e-03 -5.56099636e-01] [ 1.41426944e-02 -7.44055733e-03 9.99872303e-01 -2.28494445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99719346999998 meters Centerline goodness [0,1] 0.9294784055254901 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.56, Z:-2.28 [[ 9.99613721e-01 -2.37761914e-02 -1.43910124e-02 7.83931948e+00] [ 2.38610659e-02 9.99698719e-01 5.75503540e-03 -5.62302197e-01] [ 1.42498438e-02 -6.09619724e-03 9.99879882e-01 -2.28448096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02719347 meters Centerline goodness [0,1] 0.9313421581769437 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.58, Z:-2.28 [[ 9.99557018e-01 -2.58638928e-02 -1.47250709e-02 7.84056404e+00] [ 2.59457485e-02 9.99648793e-01 5.39526849e-03 -5.75383024e-01] [ 1.45803567e-02 -5.77493146e-03 9.99877024e-01 -2.28451970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05719347 meters Centerline goodness [0,1] 0.9322187361815923 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.58, Z:-2.28 [[ 9.99585618e-01 -2.46151043e-02 -1.49227380e-02 7.84102958e+00] [ 2.47325489e-02 9.99664161e-01 7.73735979e-03 -5.81735673e-01] [ 1.47272704e-02 -8.10323092e-03 9.99858713e-01 -2.28439338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08719347 meters Centerline goodness [0,1] 0.9315388500715549 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.59, Z:-2.28 [[ 0.99961442 -0.02312502 -0.01537014 7.8424531 ] [ 0.02328022 0.999679 0.00999616 -0.5871742 ] [ 0.01513405 -0.01035012 0.9998319 -2.28487397] [ 0. 0. 0. 1. ]] SLAMing on 190.11719347 meters Centerline goodness [0,1] 0.9242114147061926 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.59, Z:-2.29 [[ 0.99964664 -0.02141285 -0.01575061 7.84414095] [ 0.02160946 0.99968934 0.01241994 -0.59283727] [ 0.01547977 -0.01275592 0.99979881 -2.28584976] [ 0. 0. 0. 1. ]] SLAMing on 190.14719347 meters Centerline goodness [0,1] 0.8844847112117781 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.61, Z:-2.28 [[ 0.99967518 -0.01500563 -0.02060002 7.8534166 ] [ 0.01530141 0.999781 0.01427668 -0.60623646] [ 0.02038127 -0.01458725 0.99968586 -2.28358779] [ 0. 0. 0. 1. ]] SLAMing on 190.17719347 meters Centerline goodness [0,1] 0.8649301543955467 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.61, Z:-2.28 [[ 0.99966205 -0.01516294 -0.02111582 7.85516747] [ 0.01547683 0.99977095 0.01478197 -0.61231455] [ 0.02088685 -0.01510378 0.99966775 -2.28423233] [ 0. 0. 0. 1. ]] SLAMing on 190.20719347 meters Centerline goodness [0,1] 0.8989894727959326 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.62, Z:-2.28 [[ 0.99962982 -0.0174328 -0.02088838 7.85465433] [ 0.01771408 0.99975386 0.01335754 -0.61811999] [ 0.02065038 -0.01372262 0.99969258 -2.283751 ] [ 0. 0. 0. 1. ]] SLAMing on 190.23719347 meters Centerline goodness [0,1] 0.9071580588743494 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.63, Z:-2.28 [[ 0.99957495 -0.02006911 -0.02114602 7.85582206] [ 0.02032649 0.99972104 0.01202789 -0.62500247] [ 0.02089874 -0.01245261 0.99970404 -2.28397307] [ 0. 0. 0. 1. ]] SLAMing on 190.26719347 meters Centerline goodness [0,1] 0.9157062337006814 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.63, Z:-2.28 [[ 0.99949804 -0.02338355 -0.02137452 7.85701652] [ 0.02360534 0.99966949 0.01018328 -0.63210395] [ 0.02112933 -0.01068273 0.99971968 -2.28417081] [ 0. 0. 0. 1. ]] SLAMing on 190.29719347 meters Centerline goodness [0,1] 0.91321039713009 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.65, Z:-2.28 [[ 0.9993596 -0.02910112 -0.02082104 7.85671468] [ 0.02929344 0.99953041 0.00899213 -0.64931001] [ 0.02054959 -0.00959629 0.99974278 -2.28252802] [ 0. 0. 0. 1. ]] SLAMing on 190.32719347 meters Centerline goodness [0,1] 0.9352528561827957 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.66, Z:-2.28 [[ 9.99270928e-01 -3.20540522e-02 -2.07400469e-02 7.85673875e+00] [ 3.22224609e-02 9.99449994e-01 7.83731000e-03 -6.58245736e-01] [ 2.04774222e-02 -8.49989139e-03 9.99754183e-01 -2.28174186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35719347 meters Centerline goodness [0,1] 0.9379218976720711 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.67, Z:-2.28 [[ 9.99184437e-01 -3.46912139e-02 -2.06635190e-02 7.85627339e+00] [ 3.48440383e-02 9.99367668e-01 7.08220345e-03 -6.67631120e-01] [ 2.04047625e-02 -7.79642791e-03 9.99761402e-01 -2.28024157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38719347 meters Centerline goodness [0,1] 0.9393894736842106 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.68, Z:-2.28 [[ 9.99099797e-01 -3.71467396e-02 -2.04869508e-02 7.85584643e+00] [ 3.72828194e-02 9.99284891e-01 6.30067603e-03 -6.76124384e-01] [ 2.02382508e-02 -7.05881543e-03 9.99770267e-01 -2.27915305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41719347 meters Centerline goodness [0,1] 0.9401764804282369 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.69, Z:-2.28 [[ 9.98957738e-01 -4.04271833e-02 -2.11915426e-02 7.85931342e+00] [ 4.05635717e-02 9.99158668e-01 6.04596250e-03 -6.90109711e-01] [ 2.09292923e-02 -6.89926568e-03 9.99757153e-01 -2.28041450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44719347 meters Centerline goodness [0,1] 0.937659298876029 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.70, Z:-2.28 [[ 9.98927971e-01 -4.07970727e-02 -2.18748096e-02 7.86245645e+00] [ 4.09605355e-02 9.99135700e-01 7.07721526e-03 -6.96543427e-01] [ 2.15671735e-02 -7.96563219e-03 9.99735668e-01 -2.28204650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47719347 meters Centerline goodness [0,1] 0.9388715717244409 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.70, Z:-2.28 [[ 9.98843390e-01 -4.25359000e-02 -2.24183017e-02 7.86509047e+00] [ 4.26887089e-02 9.99068037e-01 6.38213239e-03 -7.02520398e-01] [ 2.21259389e-02 -7.33175910e-03 9.99728307e-01 -2.28334280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50719347 meters Centerline goodness [0,1] 0.9346817045764813 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.71, Z:-2.28 [[ 9.98711611e-01 -4.54333021e-02 -2.26038462e-02 7.86643215e+00] [ 4.55464921e-02 9.98952004e-01 4.51792038e-03 -7.07967967e-01] [ 2.23748934e-02 -5.54162544e-03 9.99734292e-01 -2.28383063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53719347 meters Centerline goodness [0,1] 0.9350159192021422 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.72, Z:-2.28 [[ 9.98613135e-01 -4.76938039e-02 -2.22958985e-02 7.86581186e+00] [ 4.78014863e-02 9.98847507e-01 4.32164839e-03 -7.19606362e-01] [ 2.20640867e-02 -5.38143194e-03 9.99742075e-01 -2.28239971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56719347 meters Centerline goodness [0,1] 0.9312153706785767 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.72, Z:-2.28 [[ 9.98567864e-01 -4.82714944e-02 -2.30669459e-02 7.86783805e+00] [ 4.83910293e-02 9.98817635e-01 4.65197498e-03 -7.24776780e-01] [ 2.28151146e-02 -5.76154598e-03 9.99723099e-01 -2.28253561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59719347 meters Centerline goodness [0,1] 0.9280053812036239 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.73, Z:-2.28 [[ 9.98474130e-01 -4.97653987e-02 -2.39335979e-02 7.87099156e+00] [ 4.98708146e-02 9.98748342e-01 3.82761787e-03 -7.28703258e-01] [ 2.37131583e-02 -5.01536545e-03 9.99706223e-01 -2.28386703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62719347 meters Centerline goodness [0,1] 0.9266948797452443 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.73, Z:-2.29 [[ 9.98277418e-01 -5.32643772e-02 -2.45988412e-02 7.87466634e+00] [ 5.33206060e-02 9.98576106e-01 1.63513859e-03 -7.34941732e-01] [ 2.44767204e-02 -2.94394705e-03 9.99696065e-01 -2.28586317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65719347 meters Centerline goodness [0,1] 0.926139119067198 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.74, Z:-2.29 [[ 9.98267624e-01 -5.33173513e-02 -2.48799348e-02 7.87566485e+00] [ 5.33946589e-02 9.98570475e-01 2.45283916e-03 -7.38029023e-01] [ 2.47135894e-02 -3.77704555e-03 9.99687437e-01 -2.28607511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68719347 meters Centerline goodness [0,1] 0.9247587075115401 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.74, Z:-2.29 [[ 9.98174765e-01 -5.47023342e-02 -2.55889195e-02 7.87853145e+00] [ 5.47612552e-02 9.98498183e-01 1.60701350e-03 -7.39233561e-01] [ 2.54625822e-02 -3.00536168e-03 9.99671258e-01 -2.28745897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71719346999998 meters Centerline goodness [0,1] 0.9225920322743318 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.74, Z:-2.29 [[ 9.98170763e-01 -5.46232273e-02 -2.59119692e-02 7.87898702e+00] [ 5.47037956e-02 9.98499717e-01 2.41017252e-03 -7.41453461e-01] [ 2.57414425e-02 -3.82324680e-03 9.99661323e-01 -2.28689483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74719346999998 meters Centerline goodness [0,1] 0.9227769932767087 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.74, Z:-2.29 [[ 9.98179826e-01 -5.43395371e-02 -2.61581834e-02 7.87918507e+00] [ 5.44422428e-02 9.98511698e-01 3.22977489e-03 -7.43314267e-01] [ 2.59437476e-02 -4.64800630e-03 9.99652599e-01 -2.28627924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77719347 meters Centerline goodness [0,1] 0.920471003085448 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.75, Z:-2.29 [[ 9.98160845e-01 -5.43381661e-02 -2.68754637e-02 7.88101792e+00] [ 5.44540930e-02 9.98509785e-01 3.60004910e-03 -7.45659411e-01] [ 2.66397934e-02 -5.05690705e-03 9.99632307e-01 -2.28674246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80719347 meters Centerline goodness [0,1] 0.9185222672064777 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.75, Z:-2.29 [[ 9.98163788e-01 -5.41351354e-02 -2.71742396e-02 7.88165697e+00] [ 5.42627748e-02 9.98518753e-01 3.98130495e-03 -7.46525460e-01] [ 2.69184594e-02 -5.44854407e-03 9.99622784e-01 -2.28677879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83719347 meters Centerline goodness [0,1] 0.9175739707275982 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.75, Z:-2.29 [[ 9.98127524e-01 -5.44970930e-02 -2.77761245e-02 7.88350386e+00] [ 5.46195503e-02 9.98500498e-01 3.66869080e-03 -7.46432771e-01] [ 2.75345412e-02 -5.17894070e-03 9.99607437e-01 -2.28764860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86719347 meters Centerline goodness [0,1] 0.9164709828916471 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.75, Z:-2.29 [[ 9.98067719e-01 -5.52929289e-02 -2.83464309e-02 7.88565885e+00] [ 5.53967275e-02 9.98460243e-01 2.88904784e-03 -7.45471252e-01] [ 2.81430404e-02 -4.45376490e-03 9.99593984e-01 -2.28889230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89719347 meters Centerline goodness [0,1] 0.915731285340535 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.75, Z:-2.29 [[ 9.98023273e-01 -5.60852741e-02 -2.83547099e-02 7.88570222e+00] [ 5.61868786e-02 9.98416347e-01 2.79875619e-03 -7.45139702e-01] [ 2.81528368e-02 -4.38638645e-03 9.99594006e-01 -2.28843988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92719347 meters Centerline goodness [0,1] 0.9182983193277311 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.74, Z:-2.29 [[ 9.98062714e-01 -5.74776961e-02 -2.38145720e-02 7.90157711e+00] [ 5.74252184e-02 9.98345650e-01 -2.88220843e-03 -7.43324821e-01] [ 2.39408371e-02 1.50906777e-03 9.99712238e-01 -2.28826305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95719347 meters Centerline goodness [0,1] 0.9192923336141533 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.75, Z:-2.29 [[ 9.98028659e-01 -5.80295911e-02 -2.39032031e-02 7.90122432e+00] [ 5.79878042e-02 9.98314314e-01 -2.43820783e-03 -7.45066419e-01] [ 2.40043980e-02 1.04730702e-03 9.99711304e-01 -2.28683480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98719347 meters Centerline goodness [0,1] 0.9196803238934694 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.75, Z:-2.29 [[ 9.97968136e-01 -5.89886190e-02 -2.40820073e-02 7.90144636e+00] [ 5.89478524e-02 9.98258179e-01 -2.39984262e-03 -7.46383987e-01] [ 2.41816242e-02 9.75383850e-04 9.99707106e-01 -2.28581057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01719347 meters Centerline goodness [0,1] 0.9173463839042958 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.74, Z:-2.29 [[ 9.97553752e-01 -6.55495914e-02 -2.42850422e-02 7.90293664e+00] [ 6.53614340e-02 9.97825766e-01 -8.46313072e-03 -7.43696084e-01] [ 2.47869956e-02 6.85512262e-03 9.99669251e-01 -2.28589151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04719347 meters Centerline goodness [0,1] 0.9115426330719172 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.74, Z:-2.29 [[ 9.97460511e-01 -6.68010518e-02 -2.47011820e-02 7.90437118e+00] [ 6.65830507e-02 9.97735221e-01 -9.54603536e-03 -7.42085775e-01] [ 2.52829245e-02 7.87711325e-03 9.99649301e-01 -2.28634382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07719347 meters Centerline goodness [0,1] 0.8960265875770388 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.74, Z:-2.29 [[ 9.97541067e-01 -6.53766968e-02 -2.52528536e-02 7.90661626e+00] [ 6.52040593e-02 9.97843000e-01 -7.60121386e-03 -7.40705227e-01] [ 2.56953255e-02 5.93593442e-03 9.99652197e-01 -2.28758885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10719347 meters Centerline goodness [0,1] 0.8988612683912522 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.73, Z:-2.29 [[ 9.97640957e-01 -6.35318052e-02 -2.60044337e-02 7.90834132e+00] [ 6.33826138e-02 9.97967986e-01 -6.52258515e-03 -7.32690417e-01] [ 2.63659840e-02 4.85896912e-03 9.99640548e-01 -2.28854363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13719347 meters Centerline goodness [0,1] 0.8981884744051001 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.73, Z:-2.29 [[ 9.97770214e-01 -6.10807555e-02 -2.69024550e-02 7.91054857e+00] [ 6.09816799e-02 9.98128792e-01 -4.48869653e-03 -7.28441194e-01] [ 2.71262879e-02 2.83813080e-03 9.99627986e-01 -2.28958146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16719347 meters Centerline goodness [0,1] 0.8987490308656203 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.72, Z:-2.29 [[ 9.97889363e-01 -5.86945984e-02 -2.77806112e-02 7.91285911e+00] [ 5.86418333e-02 9.98275406e-01 -2.71096768e-03 -7.24009311e-01] [ 2.78918201e-02 1.07613984e-03 9.99610368e-01 -2.29080072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19719347 meters Centerline goodness [0,1] 0.8996792251084974 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.72, Z:-2.29 [[ 9.98016993e-01 -5.60622029e-02 -2.86201340e-02 7.91501778e+00] [ 5.60606916e-02 9.98426996e-01 -8.55832041e-04 -7.19315617e-01] [ 2.86230943e-02 -7.50329587e-04 9.99589994e-01 -2.29201687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22719347 meters Centerline goodness [0,1] 0.8997753658178154 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.71, Z:-2.30 [[ 9.98295100e-01 -4.97376374e-02 -3.05460476e-02 7.91884729e+00] [ 4.98102179e-02 9.98757388e-01 1.61931284e-03 -7.07406887e-01] [ 3.04275499e-02 -3.13805736e-03 9.99532049e-01 -2.29556251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25719347 meters Centerline goodness [0,1] 0.9065181362368095 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.70, Z:-2.30 [[ 9.98420921e-01 -4.65979470e-02 -3.13734961e-02 7.92094995e+00] [ 4.67272637e-02 9.98901895e-01 3.40096201e-03 -7.01400726e-01] [ 3.11805668e-02 -4.86158925e-03 9.99501945e-01 -2.29695872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28719347 meters Centerline goodness [0,1] 0.9062447399427705 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.70, Z:-2.30 [[ 9.98547685e-01 -4.32913615e-02 -3.20683333e-02 7.92244240e+00] [ 4.34899542e-02 9.99038609e-01 5.52107082e-03 -6.96217097e-01] [ 3.17984884e-02 -6.90770283e-03 9.99470430e-01 -2.29781508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31719347 meters Centerline goodness [0,1] 0.9065972295431065 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.69, Z:-2.30 [[ 9.98769933e-01 -3.72063366e-02 -3.27766630e-02 7.93054322e+00] [ 3.71830412e-02 9.99307600e-01 -1.32018779e-03 -6.90713375e-01] [ 3.28030878e-02 9.98278535e-05 9.99461829e-01 -2.29598938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34719347 meters Centerline goodness [0,1] 0.9051038025855898 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.68, Z:-2.30 [[ 9.99109220e-01 -3.21362903e-02 -2.73500475e-02 7.94234244e+00] [ 3.19754383e-02 9.99468809e-01 -6.29851351e-03 -6.84649439e-01] [ 2.75379303e-02 5.41837316e-03 9.99606074e-01 -2.29901592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37719347 meters Centerline goodness [0,1] 0.9080474268415741 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.68, Z:-2.30 [[ 9.99479113e-01 -2.38990888e-02 -2.16872433e-02 7.95413871e+00] [ 2.37490477e-02 9.99692384e-01 -7.14982026e-03 -6.76175970e-01] [ 2.18514462e-02 6.63104464e-03 9.99739238e-01 -2.30102648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40719347 meters Centerline goodness [0,1] 0.9080726391239838 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.67, Z:-2.30 [[ 0.99967302 -0.02002202 -0.01590538 7.96710216] [ 0.01984349 0.99973919 -0.01130453 -0.67268239] [ 0.01612758 0.01098521 0.9998096 -2.30366243] [ 0. 0. 0. 1. ]] SLAMing on 191.43719347 meters Centerline goodness [0,1] 0.9104386720144474 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.67, Z:-2.30 [[ 9.99760897e-01 -1.51529697e-02 -1.57650453e-02 7.96447782e+00] [ 1.50465900e-02 9.99863366e-01 -6.84470054e-03 -6.70750070e-01] [ 1.58666087e-02 6.60585378e-03 9.99852296e-01 -2.30068071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46719346999998 meters Centerline goodness [0,1] 0.9104386720144474 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.67, Z:-2.30 [[ 9.99760897e-01 -1.51529697e-02 -1.57650453e-02 7.96447782e+00] [ 1.50465900e-02 9.99863366e-01 -6.84470054e-03 -6.70750070e-01] [ 1.58666087e-02 6.60585378e-03 9.99852296e-01 -2.30068071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49719346999998 meters Centerline goodness [0,1] 0.9125248508946322 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.67, Z:-2.30 [[ 0.99984555 -0.01276116 -0.01208415 7.98097835] [ 0.01264329 0.99987223 -0.0097812 -0.66745652] [ 0.01220742 0.00962691 0.99987914 -2.30107416] [ 0. 0. 0. 1. ]] SLAMing on 191.52719347 meters Centerline goodness [0,1] 0.9114995902758809 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.67, Z:-2.30 [[ 9.99885594e-01 -8.88986499e-03 -1.22380264e-02 7.98093441e+00] [ 8.81842682e-03 9.99943835e-01 -5.87903261e-03 -6.66552683e-01] [ 1.22896029e-02 5.77043987e-03 9.99907830e-01 -2.30058003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55719347 meters Centerline goodness [0,1] 0.9112697283040985 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.67, Z:-2.30 [[ 9.99900223e-01 -5.91799793e-03 -1.28266042e-02 7.98293727e+00] [ 5.88125418e-03 9.99978499e-01 -2.90048111e-03 -6.65127233e-01] [ 1.28434935e-02 2.82475519e-03 9.99913529e-01 -2.30155148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58719347 meters Centerline goodness [0,1] 0.9105768017165216 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.66, Z:-2.30 [[ 9.99899635e-01 -5.80707292e-03 -1.29227509e-02 7.98316253e+00] [ 5.76588286e-03 9.99978185e-01 -3.22238431e-03 -6.63279774e-01] [ 1.29411816e-02 3.14754983e-03 9.99911305e-01 -2.30166365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61719347 meters Centerline goodness [0,1] 0.9109876568993964 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.66, Z:-2.30 [[ 9.99901298e-01 -3.63335193e-03 -1.35718047e-02 7.98583781e+00] [ 3.61821983e-03 9.99992805e-01 -1.13935374e-03 -6.62103186e-01] [ 1.35758467e-02 1.09013551e-03 9.99907250e-01 -2.30331681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64719347 meters Centerline goodness [0,1] 0.9099913776787029 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.66, Z:-2.30 [[ 9.99899148e-01 -3.60247575e-03 -1.37373633e-02 7.98601953e+00] [ 3.58777952e-03 9.99992965e-01 -1.09429426e-03 -6.62074867e-01] [ 1.37412088e-02 1.04489727e-03 9.99905039e-01 -2.30308129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67719347 meters Centerline goodness [0,1] 0.9103723963812329 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.66, Z:-2.30 [[ 9.99896513e-01 -3.53813256e-03 -1.39443535e-02 7.98622446e+00] [ 3.52732653e-03 9.99993459e-01 -7.99457732e-04 -6.63046936e-01] [ 1.39470909e-02 7.50188711e-04 9.99902453e-01 -2.30274491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70719347 meters Centerline goodness [0,1] 0.910828692265818 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.66, Z:-2.30 [[ 9.99888684e-01 -3.91068841e-03 -1.43987929e-02 7.98725409e+00] [ 3.89787936e-03 9.99991982e-01 -9.17548389e-04 -6.63600806e-01] [ 1.44022657e-02 8.61321494e-04 9.99895911e-01 -2.30279573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73719347 meters Centerline goodness [0,1] 0.9103089103089104 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.66, Z:-2.30 [[ 9.99886882e-01 -4.11292992e-03 -1.44674795e-02 7.98704555e+00] [ 4.10279085e-03 9.99991317e-01 -7.30428583e-04 -6.63989783e-01] [ 1.44703581e-02 6.70988916e-04 9.99895074e-01 -2.30215725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76719347 meters Centerline goodness [0,1] 0.9103467126427115 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.67, Z:-2.30 [[ 9.99882477e-01 -4.33419325e-03 -1.47053704e-02 7.98763106e+00] [ 4.32815417e-03 9.99990536e-01 -4.42472621e-04 -6.65127305e-01] [ 1.47071490e-02 3.78773510e-04 9.99891772e-01 -2.30213892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79719347 meters Centerline goodness [0,1] 0.9089400844236302 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.67, Z:-2.30 [[ 9.99875805e-01 -4.73778163e-03 -1.50309227e-02 7.98869317e+00] [ 4.73665964e-03 9.99988776e-01 -1.10244995e-04 -6.67308187e-01] [ 1.50312763e-02 3.90349382e-05 9.99887023e-01 -2.30245477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82719347 meters Centerline goodness [0,1] 0.9089664469111359 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.67, Z:-2.30 [[ 9.99870833e-01 -5.11903896e-03 -1.52352775e-02 7.98917546e+00] [ 5.12734450e-03 9.99986727e-01 5.06140483e-04 -6.70295130e-01] [ 1.52324843e-02 -5.84191622e-04 9.99883808e-01 -2.30222162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85719347 meters Centerline goodness [0,1] 0.9096994190452135 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.67, Z:-2.30 [[ 9.99867094e-01 -5.65768467e-03 -1.52900437e-02 7.98955594e+00] [ 5.67429628e-03 9.99983357e-01 1.04326884e-03 -6.73359030e-01] [ 1.52838868e-02 -1.12989043e-03 9.99882556e-01 -2.30216010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88719347 meters Centerline goodness [0,1] 0.912027476926967 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.68, Z:-2.30 [[ 9.99836274e-01 -9.95805039e-03 -1.51083704e-02 7.98926653e+00] [ 9.93195035e-03 9.99949054e-01 -1.80157351e-03 -6.77582960e-01] [ 1.51255409e-02 1.65122296e-03 9.99884239e-01 -2.30166309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91719347 meters Centerline goodness [0,1] 0.9120793497030704 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.68, Z:-2.30 [[ 9.99830457e-01 -1.01701050e-02 -1.53501530e-02 7.98974465e+00] [ 1.01516761e-02 9.99947654e-01 -1.27801232e-03 -6.79527816e-01] [ 1.53623469e-02 1.12196586e-03 9.99881363e-01 -2.30143435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94719347 meters Centerline goodness [0,1] 0.9107342487713304 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.68, Z:-2.30 [[ 9.99827306e-01 -1.01774265e-02 -1.55491873e-02 7.99008390e+00] [ 1.01654546e-02 9.99947970e-01 -8.48786187e-04 -6.80490484e-01] [ 1.55570168e-02 6.90575050e-04 9.99878744e-01 -2.30120910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97719347 meters Centerline goodness [0,1] 0.9113734584167809 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.68, Z:-2.30 [[ 9.99830749e-01 -9.70107186e-03 -1.56320973e-02 7.98995681e+00] [ 9.69478478e-03 9.99952890e-01 -4.77921669e-04 -6.80261548e-01] [ 1.56359972e-02 3.26290962e-04 9.99877697e-01 -2.30081869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00719347 meters Centerline goodness [0,1] 0.9125533338910734 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.68, Z:-2.30 [[ 9.99928076e-01 -6.07318861e-03 -1.03421021e-02 8.00278993e+00] [ 6.01634555e-03 9.99966674e-01 -5.51854845e-03 -6.79352675e-01] [ 1.03752727e-02 5.45592988e-03 9.99931291e-01 -2.30433962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03719347 meters Centerline goodness [0,1] 0.9107142857142857 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.68, Z:-2.30 [[ 9.99928441e-01 -5.65745275e-03 -1.05406646e-02 8.00280814e+00] [ 5.60022598e-03 9.99969463e-01 -5.45077115e-03 -6.78294061e-01] [ 1.05711802e-02 5.39135099e-03 9.99929589e-01 -2.30390050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06719347 meters Centerline goodness [0,1] 0.9098032642628171 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.68, Z:-2.31 [[ 9.99933117e-01 -2.79326906e-03 -1.12231130e-02 8.00516283e+00] [ 2.76450304e-03 9.99992856e-01 -2.57780128e-03 -6.77660219e-01] [ 1.12302333e-02 2.54660254e-03 9.99933696e-01 -2.30505539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09719347 meters Centerline goodness [0,1] 0.908660721796921 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.31 [[ 9.99935358e-01 1.69339673e-03 -1.12433546e-02 8.00502088e+00] [-1.68410751e-03 9.99998233e-01 8.35613160e-04 -6.74654787e-01] [ 1.12447497e-02 -8.16624126e-04 9.99936442e-01 -2.30500540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12719347 meters Centerline goodness [0,1] 0.9079270468235145 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.31 [[ 9.99933904e-01 1.72505201e-03 -1.13671704e-02 8.00534100e+00] [-1.72345052e-03 9.99998504e-01 1.50681632e-04 -6.72188813e-01] [ 1.13674133e-02 -1.31080917e-04 9.99935380e-01 -2.30517835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15719347 meters Centerline goodness [0,1] 0.9116192960679949 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.67, Z:-2.30 [[ 9.99935770e-01 1.96656326e-03 -1.11619387e-02 8.00463920e+00] [-1.96743233e-03 9.99998062e-01 -6.68798859e-05 -6.70530150e-01] [ 1.11617856e-02 8.88359492e-05 9.99937701e-01 -2.30474343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18719347 meters Centerline goodness [0,1] 0.9139649564578743 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.67, Z:-2.30 [[ 9.99935281e-01 1.58409979e-03 -1.12660836e-02 8.00498508e+00] [-1.59250695e-03 9.99998460e-01 -7.37304271e-04 -6.68710509e-01] [ 1.12648983e-02 7.55197870e-04 9.99936264e-01 -2.30483242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21719346999998 meters Centerline goodness [0,1] 0.9152381554810551 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.67, Z:-2.30 [[ 9.99933629e-01 -2.83369822e-03 -1.11672614e-02 8.00449066e+00] [ 2.77556626e-03 9.99982536e-01 -5.21763438e-03 -6.66827049e-01] [ 1.11818516e-02 5.18629261e-03 9.99924031e-01 -2.30436636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24719346999998 meters Centerline goodness [0,1] 0.9158604700179155 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.30 [[ 9.99928109e-01 -3.89062005e-03 -1.13419374e-02 8.00502456e+00] [ 3.83133762e-03 9.99978911e-01 -5.24388524e-03 -6.68512564e-01] [ 1.13621002e-02 5.20005347e-03 9.99921928e-01 -2.30420614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27719347 meters Centerline goodness [0,1] 0.9185264799477355 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.30 [[ 0.99989026 -0.00964406 -0.0112452 8.00523553] [ 0.00953535 0.99990767 -0.00968132 -0.66986687] [ 0.01133752 0.00957303 0.9998899 -2.30401361] [ 0. 0. 0. 1. ]] SLAMing on 192.30719347 meters Centerline goodness [0,1] 0.9169295478443743 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.30 [[ 0.99987577 -0.01068532 -0.01158774 8.00625964] [ 0.01057197 0.9998961 -0.00979936 -0.67125502] [ 0.01169124 0.00967564 0.99988484 -2.30415846] [ 0. 0. 0. 1. ]] SLAMing on 192.33719347 meters Centerline goodness [0,1] 0.9102792010875248 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.31 [[ 0.999845 -0.01260234 -0.01229444 8.00890744] [ 0.01246603 0.99986067 -0.01110131 -0.67174258] [ 0.01243263 0.01094633 0.99986279 -2.30550638] [ 0. 0. 0. 1. ]] SLAMing on 192.36719347 meters Centerline goodness [0,1] 0.8955872169880605 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.31 [[ 0.99983381 -0.01321432 -0.01255926 8.00988557] [ 0.01307219 0.99985034 -0.01133238 -0.67194181] [ 0.01270713 0.01116632 0.99985691 -2.30595642] [ 0. 0. 0. 1. ]] SLAMing on 192.39719347 meters Centerline goodness [0,1] 0.8333926515230817 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.31 [[ 0.99984996 -0.01154916 -0.01291041 8.0116832 ] [ 0.01143079 0.9998923 -0.00920466 -0.67004021] [ 0.01301532 0.00905571 0.99987429 -2.30704756] [ 0. 0. 0. 1. ]] SLAMing on 192.42719347 meters Centerline goodness [0,1] 0.8796081735833158 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.31 [[ 9.99881328e-01 -8.23801958e-03 -1.30178443e-02 8.01190917e+00] [ 8.16522247e-03 9.99950785e-01 -5.63539144e-03 -6.69479502e-01] [ 1.30636281e-02 5.52842908e-03 9.99899384e-01 -2.30688163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45719347 meters Centerline goodness [0,1] 0.8728622814951934 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.67, Z:-2.31 [[ 9.99900079e-01 -4.90080079e-03 -1.32595214e-02 8.01250161e+00] [ 4.87264977e-03 9.99985807e-01 -2.15455326e-03 -6.68698057e-01] [ 1.32698923e-02 2.08972897e-03 9.99909767e-01 -2.30688105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48719347 meters Centerline goodness [0,1] 0.8763128164358341 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.67, Z:-2.31 [[ 9.99963585e-01 -2.05909568e-03 -8.28189266e-03 8.02634110e+00] [ 1.99596515e-03 9.99968947e-01 -7.62377319e-03 -6.65103306e-01] [ 8.29733355e-03 7.60696520e-03 9.99936642e-01 -2.31044254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51719347 meters Centerline goodness [0,1] 0.8746469373129295 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.66, Z:-2.31 [[ 9.99968285e-01 -1.39473218e-04 -7.96296750e-03 8.02505792e+00] [ 9.30282296e-05 9.99982985e-01 -5.83269561e-03 -6.62403290e-01] [ 7.96364552e-03 5.83176985e-03 9.99951284e-01 -2.30941802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54719347 meters Centerline goodness [0,1] 0.8609186715371373 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.66, Z:-2.31 [[ 9.99959685e-01 1.37391267e-03 -8.87363399e-03 8.02846135e+00] [-1.41891026e-03 9.99986158e-01 -5.06662824e-03 -6.55512637e-01] [ 8.86655005e-03 5.07901487e-03 9.99947793e-01 -2.31151410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57719347 meters Centerline goodness [0,1] 0.8432096692966258 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.65, Z:-2.31 [[ 9.99949984e-01 3.27331215e-03 -9.45065206e-03 8.03109465e+00] [-3.30336531e-03 9.99989532e-01 -3.16615343e-03 -6.52652609e-01] [ 9.44018932e-03 3.19721403e-03 9.99950329e-01 -2.31320682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60719347 meters Centerline goodness [0,1] 0.8399619812018164 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.65, Z:-2.31 [[ 9.99949269e-01 3.00023828e-03 -9.61551968e-03 8.03149731e+00] [-3.04027435e-03 9.99986760e-01 -4.15178364e-03 -6.48918783e-01] [ 9.60293603e-03 4.18080683e-03 9.99945151e-01 -2.31331657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63719347 meters Centerline goodness [0,1] 0.8594473928059978 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.65, Z:-2.31 [[ 9.99948007e-01 2.69278240e-03 -9.83525325e-03 8.03201315e+00] [-2.74360472e-03 9.99982936e-01 -5.15753078e-03 -6.45487445e-01] [ 9.82119731e-03 5.18424668e-03 9.99938332e-01 -2.31339913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66719347 meters Centerline goodness [0,1] 0.8865625065890738 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.64, Z:-2.31 [[ 9.99942054e-01 4.94032598e-03 -9.56464140e-03 8.03103234e+00] [-4.98153504e-03 9.99978392e-01 -4.28946015e-03 -6.38296621e-01] [ 9.54324340e-03 4.33685819e-03 9.99945058e-01 -2.31251104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69719347 meters Centerline goodness [0,1] 0.8813494992092779 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.63, Z:-2.31 [[ 9.99920478e-01 7.99437014e-03 -9.75338497e-03 8.03164465e+00] [-8.01470948e-03 9.99965784e-01 -2.04806133e-03 -6.33492287e-01] [ 9.73667829e-03 2.12606901e-03 9.99950337e-01 -2.31269892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72719347 meters Centerline goodness [0,1] 0.9035901742599202 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.63, Z:-2.31 [[ 9.99886622e-01 1.11807590e-02 -1.00863588e-02 8.03276856e+00] [-1.11799773e-02 9.99937493e-01 1.33883155e-04 -6.27993250e-01] [ 1.00872253e-02 -2.11027134e-05 9.99949122e-01 -2.31312534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75719347 meters Centerline goodness [0,1] 0.9087664463263712 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.62, Z:-2.31 [[ 9.99841615e-01 1.45422263e-02 -1.02600120e-02 8.03310738e+00] [-1.45159899e-02 9.99891187e-01 2.62700748e-03 -6.23435025e-01] [ 1.02970981e-02 -2.47765717e-03 9.99943914e-01 -2.31295556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78719347 meters Centerline goodness [0,1] 0.9098478141730956 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.62, Z:-2.31 [[ 9.99794191e-01 1.75018606e-02 -1.02596437e-02 8.03233458e+00] [-1.74656264e-02 9.99840945e-01 3.61075163e-03 -6.15200850e-01] [ 1.03212067e-02 -3.43081740e-03 9.99940849e-01 -2.31174377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81719347 meters Centerline goodness [0,1] 0.9087517813731243 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.61, Z:-2.31 [[ 9.99797993e-01 1.70763131e-02 -1.06006292e-02 8.03296852e+00] [-1.70550256e-02 9.99852357e-01 2.09530384e-03 -6.10773501e-01] [ 1.06348441e-02 -1.91408657e-03 9.99941616e-01 -2.31169466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84719347 meters Centerline goodness [0,1] 0.9101099919929201 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.61, Z:-2.31 [[ 9.99804536e-01 1.65770331e-02 -1.07746282e-02 8.03315432e+00] [-1.65707647e-02 9.99862470e-01 6.70796135e-04 -6.06428038e-01] [ 1.07842661e-02 -4.92121191e-04 9.99941727e-01 -2.31148068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87719347 meters Centerline goodness [0,1] 0.9104947998739363 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.60, Z:-2.31 [[ 9.99812319e-01 1.58037362e-02 -1.12057523e-02 8.03432392e+00] [-1.58136341e-02 9.99874640e-01 -7.95226107e-04 -6.02535553e-01] [ 1.11917800e-02 9.72280525e-04 9.99936897e-01 -2.31187724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90719347 meters Centerline goodness [0,1] 0.9097427245887811 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.60, Z:-2.31 [[ 9.99831943e-01 1.43741734e-02 -1.13784195e-02 8.03438896e+00] [-1.44126758e-02 9.99890656e-01 -3.30907572e-03 -5.95434807e-01] [ 1.13296102e-02 3.47251308e-03 9.99929788e-01 -2.31151405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93719347 meters Centerline goodness [0,1] 0.9093911726343249 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.59, Z:-2.31 [[ 9.99840428e-01 1.33787497e-02 -1.18375583e-02 8.03545591e+00] [-1.34367250e-02 9.99898050e-01 -4.83166781e-03 -5.91365621e-01] [ 1.17717098e-02 4.98995483e-03 9.99918260e-01 -2.31165111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96719346999998 meters Centerline goodness [0,1] 0.9105279731290018 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.59, Z:-2.31 [[ 9.99843582e-01 1.27798153e-02 -1.22265632e-02 8.03629737e+00] [-1.28550447e-02 9.99898799e-01 -6.09426960e-03 -5.87187488e-01] [ 1.21474422e-02 6.25048936e-03 9.99906681e-01 -2.31169732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99719346999998 meters Centerline goodness [0,1] 0.9089989675733761 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.58, Z:-2.31 [[ 9.99804074e-01 1.54387024e-02 -1.23878895e-02 8.03664384e+00] [-1.54953905e-02 9.99869843e-01 -4.49322542e-03 -5.81326351e-01] [ 1.23169075e-02 4.68430027e-03 9.99913172e-01 -2.31156280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02719347 meters Centerline goodness [0,1] 0.9093687427547686 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.58, Z:-2.31 [[ 9.99804942e-01 1.52535083e-02 -1.25462477e-02 8.03706572e+00] [-1.53259605e-02 9.99866309e-01 -5.69908004e-03 -5.77238220e-01] [ 1.24576394e-02 5.89025169e-03 9.99905052e-01 -2.31163086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05719347 meters Centerline goodness [0,1] 0.9069137771807573 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:-2.31 [[ 9.99744854e-01 1.85749907e-02 -1.28528835e-02 8.03809829e+00] [-1.86132817e-02 9.99822650e-01 -2.86598358e-03 -5.74696167e-01] [ 1.27973684e-02 3.10448668e-03 9.99913291e-01 -2.31195732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08719347 meters Centerline goodness [0,1] 0.9061314791403287 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:-2.31 [[ 9.99735485e-01 1.90013496e-02 -1.29579355e-02 8.03807996e+00] [-1.90498551e-02 9.99811945e-01 -3.63019623e-03 -5.70457364e-01] [ 1.28865201e-02 3.87608278e-03 9.99909453e-01 -2.31162569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11719347 meters Centerline goodness [0,1] 0.9038028020646792 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.57, Z:-2.31 [[ 9.99730573e-01 1.89822615e-02 -1.33586827e-02 8.03922332e+00] [-1.90482397e-02 9.99806903e-01 -4.82918291e-03 -5.66042829e-01] [ 1.32644344e-02 5.08234119e-03 9.99899107e-01 -2.31211046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14719347 meters Centerline goodness [0,1] 0.9003468937243772 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.56, Z:-2.31 [[ 9.99665995e-01 2.15801828e-02 -1.42195312e-02 8.04227374e+00] [-2.16243802e-02 9.99761779e-01 -2.96181535e-03 -5.62164638e-01] [ 1.41522273e-02 3.26831464e-03 9.99894511e-01 -2.31381928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17719347 meters Centerline goodness [0,1] 0.8993522250121326 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.56, Z:-2.31 [[ 9.99674904e-01 2.10245981e-02 -1.44240228e-02 8.04314762e+00] [-2.10777832e-02 9.99771553e-01 -3.54518645e-03 -5.61341724e-01] [ 1.43461916e-02 3.84806035e-03 9.99889684e-01 -2.31445756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20719347 meters Centerline goodness [0,1] 0.9010129881047455 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.56, Z:-2.31 [[ 9.99754152e-01 1.65522929e-02 -1.47532321e-02 8.04376678e+00] [-1.66687553e-02 9.99830593e-01 -7.80632393e-03 -5.61006761e-01] [ 1.46215203e-02 8.05032278e-03 9.99860692e-01 -2.31452954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23719347 meters Centerline goodness [0,1] 0.901725116093379 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.56, Z:-2.31 [[ 9.99759051e-01 1.59092871e-02 -1.51239971e-02 8.04448399e+00] [-1.60291329e-02 9.99840817e-01 -7.83629068e-03 -5.62059064e-01] [ 1.49969198e-02 8.07682709e-03 9.99854918e-01 -2.31443754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26719347 meters Centerline goodness [0,1] 0.9023903964406388 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99762677e-01 1.52620736e-02 -1.55453994e-02 8.04535009e+00] [-1.53872554e-02 9.99849883e-01 -7.96513042e-03 -5.62694179e-01] [ 1.54215014e-02 8.20244114e-03 9.99847437e-01 -2.31444848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29719347 meters Centerline goodness [0,1] 0.9031498875790624 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99761582e-01 1.50020261e-02 -1.58656138e-02 8.04602368e+00] [-1.51282402e-02 9.99854626e-01 -7.86532159e-03 -5.63546908e-01] [ 1.57453115e-02 8.10346518e-03 9.99843197e-01 -2.31448077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32719347 meters Centerline goodness [0,1] 0.9031498875790624 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99761582e-01 1.50020261e-02 -1.58656138e-02 8.04602368e+00] [-1.51282402e-02 9.99854626e-01 -7.86532159e-03 -5.63546908e-01] [ 1.57453115e-02 8.10346518e-03 9.99843197e-01 -2.31448077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35719347 meters Centerline goodness [0,1] 0.9011427611125116 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99757399e-01 1.50254824e-02 -1.61051892e-02 8.04670209e+00] [-1.51502134e-02 9.99855957e-01 -7.65094236e-03 -5.63884951e-01] [ 1.59879102e-02 7.89308329e-03 9.99841030e-01 -2.31471555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38719347 meters Centerline goodness [0,1] 0.9033838776840732 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99750532e-01 1.54262492e-02 -1.61525338e-02 8.04631455e+00] [-1.55477460e-02 9.99851569e-01 -7.42346610e-03 -5.63373697e-01] [ 1.60356200e-02 7.67274968e-03 9.99841981e-01 -2.31401197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41719347 meters Centerline goodness [0,1] 0.9062631623283632 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.56, Z:-2.31 [[ 9.99736679e-01 1.66293376e-02 -1.58125522e-02 8.04444115e+00] [-1.67342393e-02 9.99838681e-01 -6.52506161e-03 -5.62842061e-01] [ 1.57014939e-02 6.78795446e-03 9.99853683e-01 -2.31231580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44719347 meters Centerline goodness [0,1] 0.9038704781178851 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.56, Z:-2.31 [[ 9.99728263e-01 1.69818707e-02 -1.59692347e-02 8.04455891e+00] [-1.70888988e-02 9.99832258e-01 -6.58973095e-03 -5.61584907e-01] [ 1.58546500e-02 6.86083691e-03 9.99850768e-01 -2.31200179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47719347 meters Centerline goodness [0,1] 0.9037110487563029 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.56, Z:-2.31 [[ 9.99664753e-01 2.03839151e-02 -1.59649035e-02 8.04486028e+00] [-2.04423020e-02 9.99784899e-01 -3.50257237e-03 -5.59762358e-01] [ 1.58900733e-02 3.82775752e-03 9.99866418e-01 -2.31216263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50719347 meters Centerline goodness [0,1] 0.901688768948578 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99670368e-01 2.00520682e-02 -1.60333854e-02 8.04547984e+00] [-2.01241184e-02 9.99788048e-01 -4.34510022e-03 -5.57200754e-01] [ 1.59428588e-02 4.66632568e-03 9.99862016e-01 -2.31272690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53719347 meters Centerline goodness [0,1] 0.9017283637592968 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99673802e-01 1.97413379e-02 -1.62039850e-02 8.04614402e+00] [-1.98258285e-02 9.99790593e-01 -5.07019750e-03 -5.55122835e-01] [ 1.61004993e-02 5.38980104e-03 9.99855852e-01 -2.31309796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56719347 meters Centerline goodness [0,1] 0.9012567324955116 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.55, Z:-2.31 [[ 9.99680862e-01 1.93420192e-02 -1.62499123e-02 8.04663503e+00] [-1.94366073e-02 9.99794939e-01 -5.68319626e-03 -5.53675233e-01] [ 1.61366556e-02 5.99722570e-03 9.99851810e-01 -2.31351796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59719347 meters Centerline goodness [0,1] 0.9035640734669861 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.55, Z:-2.31 [[ 9.99683626e-01 1.88916437e-02 -1.66058334e-02 8.04728174e+00] [-1.89938185e-02 9.99801496e-01 -6.01690170e-03 -5.53699172e-01] [ 1.64888679e-02 6.33040629e-03 9.99844009e-01 -2.31343329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62719347 meters Centerline goodness [0,1] 0.9035615512909831 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.55, Z:-2.31 [[ 0.99974089 0.01592055 -0.01626907 8.04480034] [-0.01606903 0.99983004 -0.00903726 -0.55371079] [ 0.01612242 0.00929635 0.99982681 -2.31119258] [ 0. 0. 0. 1. ]] SLAMing on 193.65719347 meters Centerline goodness [0,1] 0.904735775789296 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.55, Z:-2.31 [[ 0.99974546 0.01527742 -0.01660167 8.04580216] [-0.01543273 0.99983796 -0.00926767 -0.55436612] [ 0.01645739 0.00952152 0.99981923 -2.31166901] [ 0. 0. 0. 1. ]] SLAMing on 193.68719347 meters Centerline goodness [0,1] 0.9051729596251662 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.55, Z:-2.31 [[ 0.99975201 0.01393386 -0.01737123 8.04845867] [-0.01411233 0.99984845 -0.0101939 -0.55466289] [ 0.01722656 0.01043652 0.99979714 -2.31318264] [ 0. 0. 0. 1. ]] SLAMing on 193.71719346999998 meters Centerline goodness [0,1] 0.9028085501466523 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.55, Z:-2.32 [[ 0.9997547 0.01260889 -0.0182087 8.05176781] [-0.01281139 0.9998569 -0.01104752 -0.55471127] [ 0.0180668 0.01127809 0.99977317 -2.31544185] [ 0. 0. 0. 1. ]] SLAMing on 193.74719346999998 meters Centerline goodness [0,1] 0.9034516203850127 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.55, Z:-2.32 [[ 0.99974902 0.01265277 -0.01848805 8.05234519] [-0.01285484 0.99985848 -0.01085209 -0.55497704] [ 0.01834812 0.01108703 0.99977019 -2.31545153] [ 0. 0. 0. 1. ]] SLAMing on 193.77719347 meters Centerline goodness [0,1] 0.9028530610529855 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.32 [[ 0.99974029 0.01295953 -0.01874563 8.05258835] [-0.01315394 0.99986059 -0.01028502 -0.55623733] [ 0.01860973 0.01052893 0.99977138 -2.31506111] [ 0. 0. 0. 1. ]] SLAMing on 193.80719347 meters Centerline goodness [0,1] 0.9026450135507048 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 0.99973082 0.0135372 -0.01884206 8.05229617] [-0.0137164 0.9998616 -0.00941442 -0.55823051] [ 0.01871201 0.00967033 0.99977815 -2.31438803] [ 0. 0. 0. 1. ]] SLAMing on 193.83719347 meters Centerline goodness [0,1] 0.9046257359125316 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 0.99971634 0.01455365 -0.01885287 8.05125612] [-0.01471115 0.99985781 -0.00824276 -0.56012221] [ 0.01873023 0.00851777 0.99978829 -2.31296203] [ 0. 0. 0. 1. ]] SLAMing on 193.86719347 meters Centerline goodness [0,1] 0.8997091185025926 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99681578e-01 1.72624650e-02 -1.84051709e-02 8.04862955e+00] [-1.73702274e-02 9.99832814e-01 -5.71129899e-03 -5.61669504e-01] [ 1.83035027e-02 6.02918239e-03 9.99814298e-01 -2.31064953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89719347 meters Centerline goodness [0,1] 0.9014217611357288 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99615755e-01 2.01877061e-02 -1.89947100e-02 8.05083551e+00] [-2.02348619e-02 9.99792623e-01 -2.29363996e-03 -5.62981622e-01] [ 1.89444676e-02 2.67711397e-03 9.99816953e-01 -2.31174794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92719347 meters Centerline goodness [0,1] 0.8994264991144472 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99610661e-01 2.04340384e-02 -1.89993785e-02 8.05075697e+00] [-2.04799906e-02 9.99787782e-01 -2.22717859e-03 -5.61932552e-01] [ 1.89498363e-02 2.61541856e-03 9.99817015e-01 -2.31153949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95719347 meters Centerline goodness [0,1] 0.8982176556930174 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99534485e-01 2.33985543e-02 -1.95785751e-02 8.05259029e+00] [-2.33789396e-02 9.99725918e-01 1.23016200e-03 -5.62034752e-01] [ 1.96019930e-02 -7.71863014e-04 9.99807565e-01 -2.31218272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98719347 meters Centerline goodness [0,1] 0.8962173257372654 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99524194e-01 2.35781443e-02 -1.98861187e-02 8.05355473e+00] [-2.35560534e-02 9.99721614e-01 1.34441244e-03 -5.62008937e-01] [ 1.99122814e-02 -8.75334285e-04 9.99801348e-01 -2.31265775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01719347 meters Centerline goodness [0,1] 0.893637983439891 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.56, Z:-2.31 [[ 9.99593980e-01 2.00110121e-02 -2.02838321e-02 8.05488117e+00] [-2.00654534e-02 9.99795583e-01 -2.48399778e-03 -5.62375298e-01] [ 2.02299784e-02 2.88999352e-03 9.99791176e-01 -2.31365549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04719347 meters Centerline goodness [0,1] 0.8952471083070452 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.56, Z:-2.31 [[ 9.99645711e-01 1.67954563e-02 -2.06486121e-02 8.05607843e+00] [-1.69173536e-02 9.99840398e-01 -5.74296288e-03 -5.63837302e-01] [ 2.05488609e-02 6.09024809e-03 9.99770300e-01 -2.31454878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07719347 meters Centerline goodness [0,1] 0.8953942232630757 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.57, Z:-2.32 [[ 9.99649336e-01 1.62807960e-02 -2.08839980e-02 8.05727711e+00] [-1.64032935e-02 9.99849165e-01 -5.70777777e-03 -5.65656052e-01] [ 2.07879208e-02 6.04834260e-03 9.99765612e-01 -2.31553790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10719347 meters Centerline goodness [0,1] 0.8951551695058189 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.57, Z:-2.32 [[ 9.99601455e-01 1.84154220e-02 -2.13963243e-02 8.05943191e+00] [-1.84856038e-02 9.99824361e-01 -3.08692964e-03 -5.65116023e-01] [ 2.13357192e-02 3.48122333e-03 9.99766307e-01 -2.31664782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13719347 meters Centerline goodness [0,1] 0.8958376952388929 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.56, Z:-2.32 [[ 9.99701627e-01 1.77692580e-02 -1.67604043e-02 8.06943108e+00] [-1.76781704e-02 9.99828229e-01 5.56729242e-03 -5.64460602e-01] [ 1.68564520e-02 -5.26933801e-03 9.99844035e-01 -2.31859296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16719347 meters Centerline goodness [0,1] 0.8948166238578467 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.56, Z:-2.32 [[ 9.99694267e-01 1.81619782e-02 -1.67783986e-02 8.06901129e+00] [-1.80762511e-02 9.99822843e-01 5.24698958e-03 -5.62212817e-01] [ 1.68707219e-02 -4.94209485e-03 9.99845465e-01 -2.31790833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19719347 meters Centerline goodness [0,1] 0.8923985239852399 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.56, Z:-2.32 [[ 9.99685236e-01 1.85853345e-02 -1.68527006e-02 8.06865077e+00] [-1.85054495e-02 9.99816832e-01 4.88382281e-03 -5.60103135e-01] [ 1.69403812e-02 -4.57041876e-03 9.99846056e-01 -2.31716063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22719347 meters Centerline goodness [0,1] 0.8911135490948985 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.56, Z:-2.32 [[ 0.99959039 0.02324697 -0.01669245 8.06750913] [-0.02310257 0.99969444 0.00879155 -0.55881463] [ 0.01689173 -0.00840231 0.99982202 -2.31569687] [ 0. 0. 0. 1. ]] SLAMing on 194.25719347 meters Centerline goodness [0,1] 0.8956618511674785 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.56, Z:-2.32 [[ 9.99619732e-01 2.51637173e-02 -1.12773147e-02 8.07748639e+00] [-2.51625474e-02 9.99683343e-01 2.45637824e-04 -5.56086157e-01] [ 1.12799248e-02 3.82215501e-05 9.99936379e-01 -2.31863183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28719347 meters Centerline goodness [0,1] 0.8921769704072663 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.55, Z:-2.32 [[ 9.99614099e-01 2.52635851e-02 -1.15500763e-02 8.07832254e+00] [-2.52670557e-02 9.99680725e-01 -1.54638937e-04 -5.54668058e-01] [ 1.15424819e-02 4.46415683e-04 9.99933284e-01 -2.31899488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31719347 meters Centerline goodness [0,1] 0.8925100659822501 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.55, Z:-2.32 [[ 9.99611221e-01 2.53708844e-02 -1.15639953e-02 8.07850484e+00] [-2.53756774e-02 9.99677950e-01 -2.67917245e-04 -5.54181578e-01] [ 1.15534738e-02 5.61257297e-04 9.99933099e-01 -2.31918491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34719347 meters Centerline goodness [0,1] 0.8938217420661715 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.56, Z:-2.32 [[ 9.99650995e-01 2.34884861e-02 -1.20904845e-02 8.08091800e+00] [-2.35168239e-02 9.99721005e-01 -2.20698655e-03 -5.55748803e-01] [ 1.20352725e-02 2.49054610e-03 9.99924472e-01 -2.32125936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37719347 meters Centerline goodness [0,1] 0.8921244069583553 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.56, Z:-2.32 [[ 9.99679472e-01 2.19050376e-02 -1.26934304e-02 8.08346763e+00] [-2.19477825e-02 9.99753875e-01 -3.23800969e-03 -5.57710550e-01] [ 1.26193775e-02 3.51556447e-03 9.99914192e-01 -2.32303145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40719347 meters Centerline goodness [0,1] 0.8932503691204388 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.56, Z:-2.32 [[ 9.99688958e-01 2.11564279e-02 -1.32057831e-02 8.08465275e+00] [-2.11974863e-02 9.99770876e-01 -2.97692243e-03 -5.60597037e-01] [ 1.31397763e-02 3.25592589e-03 9.99908368e-01 -2.32330516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43719347 meters Centerline goodness [0,1] 0.8954830063032689 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.57, Z:-2.32 [[ 9.99884146e-01 1.35751430e-02 -6.88544044e-03 8.09091817e+00] [-1.35748406e-02 9.99907853e-01 9.06490658e-05 -5.66401993e-01] [ 6.88603655e-03 2.83019263e-06 9.99976291e-01 -2.32339805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46719346999998 meters Centerline goodness [0,1] 0.8962731355185294 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.57, Z:-2.32 [[ 9.99928252e-01 9.75866389e-03 -6.94686048e-03 8.09057337e+00] [-9.78166075e-03 9.99946765e-01 -3.28415160e-03 -5.68322357e-01] [ 6.91444174e-03 3.35186780e-03 9.99970477e-01 -2.32282682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49719346999998 meters Centerline goodness [0,1] 0.8972804615481093 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.57, Z:-2.32 [[ 9.99932204e-01 8.85331931e-03 -7.56347587e-03 8.09239599e+00] [-8.87831880e-03 9.99955214e-01 -3.27813474e-03 -5.71413451e-01] [ 7.53411476e-03 3.34506345e-03 9.99966023e-01 -2.32351079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52719347 meters Centerline goodness [0,1] 0.8997533882764581 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.57, Z:-2.32 [[ 9.99931596e-01 8.77013655e-03 -7.73873396e-03 8.09274831e+00] [-8.79168930e-03 9.99957556e-01 -2.75543819e-03 -5.73385446e-01] [ 7.71423993e-03 2.82328625e-03 9.99966259e-01 -2.32342009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55719347 meters Centerline goodness [0,1] 0.9020478244482599 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.58, Z:-2.32 [[ 9.99928557e-01 8.91924904e-03 -7.95785225e-03 8.09270097e+00] [-8.93518476e-03 9.99958141e-01 -1.96921403e-03 -5.75474053e-01] [ 7.93995523e-03 2.04017822e-03 9.99966397e-01 -2.32260657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58719347 meters Centerline goodness [0,1] 0.9014250779998314 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.58, Z:-2.32 [[ 9.99943842e-01 7.30158861e-03 -7.68116368e-03 8.09061504e+00] [-7.32800760e-03 9.99967312e-01 -3.41694724e-03 -5.75954045e-01] [ 7.65596346e-03 3.47304297e-03 9.99964661e-01 -2.32065687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61719347 meters Centerline goodness [0,1] 0.9026300360164168 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.58, Z:-2.32 [[ 9.99944065e-01 6.93842272e-03 -7.98285054e-03 8.09150421e+00] [-6.96575902e-03 9.99969953e-01 -3.40168511e-03 -5.77304494e-01] [ 7.95900835e-03 3.45710145e-03 9.99962351e-01 -2.32095161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64719347 meters Centerline goodness [0,1] 0.9021993054824792 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.58, Z:-2.32 [[ 9.99945020e-01 6.58739028e-03 -8.15862810e-03 8.09247359e+00] [-6.61642655e-03 9.99971856e-01 -3.53710152e-03 -5.77952175e-01] [ 8.13509821e-03 3.59088801e-03 9.99960462e-01 -2.32178342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67719347 meters Centerline goodness [0,1] 0.9014416996880533 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.58, Z:-2.32 [[ 9.99945275e-01 6.29662500e-03 -8.35462668e-03 8.09345852e+00] [-6.32847114e-03 9.99972790e-01 -3.79085065e-03 -5.77588605e-01] [ 8.33052978e-03 3.84351521e-03 9.99957914e-01 -2.32255868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70719347 meters Centerline goodness [0,1] 0.9028482738369898 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.58, Z:-2.32 [[ 9.99945102e-01 5.61218156e-03 -8.84851368e-03 8.09512848e+00] [-5.65360739e-03 9.99973143e-01 -4.66362820e-03 -5.75372942e-01] [ 8.82210291e-03 4.71339820e-03 9.99949976e-01 -2.32342929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73719347 meters Centerline goodness [0,1] 0.902240625525475 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.57, Z:-2.32 [[ 9.99945889e-01 5.37781153e-03 -8.90497757e-03 8.09537180e+00] [-5.42176420e-03 9.99973204e-01 -4.91897819e-03 -5.74942222e-01] [ 8.87828561e-03 4.96699270e-03 9.99948251e-01 -2.32351093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76719347 meters Centerline goodness [0,1] 0.9026335781210433 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.58, Z:-2.32 [[ 9.99944765e-01 5.48759806e-03 -8.96398921e-03 8.09521973e+00] [-5.53040324e-03 9.99973390e-01 -4.75745081e-03 -5.75476385e-01] [ 8.93764371e-03 4.80676251e-03 9.99948505e-01 -2.32309569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79719347 meters Centerline goodness [0,1] 0.9038340004213188 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.58, Z:-2.32 [[ 9.99943098e-01 5.53972866e-03 -9.11662201e-03 8.09583860e+00] [-5.58300531e-03 9.99973236e-01 -4.72842181e-03 -5.75764581e-01] [ 9.09018384e-03 4.77905090e-03 9.99947263e-01 -2.32342274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82719347 meters Centerline goodness [0,1] 0.9026001346348032 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.58, Z:-2.33 [[ 9.99920699e-01 8.03915527e-03 -9.69367968e-03 8.09890803e+00] [-8.06291340e-03 9.99964580e-01 -2.41430386e-03 -5.75280099e-01] [ 9.67392736e-03 2.49227171e-03 9.99950101e-01 -2.32580842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85719347 meters Centerline goodness [0,1] 0.9014304401029579 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.57, Z:-2.33 [[ 9.99917190e-01 8.28313376e-03 -9.84901430e-03 8.09963227e+00] [-8.31010129e-03 9.99961824e-01 -2.70032906e-03 -5.73190873e-01] [ 9.82627112e-03 2.78195175e-03 9.99947851e-01 -2.32636949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88719347 meters Centerline goodness [0,1] 0.9017509112745201 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.57, Z:-2.33 [[ 9.99912633e-01 8.45050129e-03 -1.01644111e-02 8.10075531e+00] [-8.48140448e-03 9.99959529e-01 -3.00107868e-03 -5.71426115e-01] [ 1.01386391e-02 3.08702497e-03 9.99943838e-01 -2.32701598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91719347 meters Centerline goodness [0,1] 0.9000907881679793 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.57, Z:-2.33 [[ 9.99907416e-01 8.91334112e-03 -1.02816140e-02 8.10059308e+00] [-8.94245554e-03 9.99956125e-01 -2.78920832e-03 -5.71118218e-01] [ 1.02563017e-02 2.88089296e-03 9.99943253e-01 -2.32642284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94719347 meters Centerline goodness [0,1] 0.9033319362950545 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.57, Z:-2.33 [[ 9.99967430e-01 7.86239113e-03 -1.82280087e-03 8.10791441e+00] [-7.85768012e-03 9.99965806e-01 2.57740528e-03 -5.74235909e-01] [ 1.84300311e-03 -2.56299834e-03 9.99995017e-01 -2.32761014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97719347 meters Centerline goodness [0,1] 0.904952864851246 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.57, Z:-2.33 [[ 9.99987705e-01 4.58618994e-03 -1.88613467e-03 8.10779148e+00] [-4.58819864e-03 9.99988910e-01 -1.06203566e-03 -5.73355991e-01] [ 1.88124306e-03 1.07067656e-03 9.99997657e-01 -2.32729461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00719347 meters Centerline goodness [0,1] 0.9057603735094324 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.58, Z:-2.33 [[ 9.99988880e-01 4.17861148e-03 -2.18592831e-03 8.10864202e+00] [-4.18032830e-03 9.99990957e-01 -7.81419288e-04 -5.75002062e-01] [ 2.18264330e-03 7.90548497e-04 9.99997306e-01 -2.32756931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03719347 meters Centerline goodness [0,1] 0.9075298341957968 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.58, Z:-2.33 [[ 9.99997192e-01 -4.32595543e-04 -2.33018367e-03 8.10880650e+00] [ 4.22437334e-04 9.99990414e-01 -4.35813236e-03 -5.76982830e-01] [ 2.33204664e-03 4.35713577e-03 9.99987788e-01 -2.32720389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06719347 meters Centerline goodness [0,1] 0.9009232060428032 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.58, Z:-2.33 [[ 9.99994623e-01 -1.66628168e-03 -2.82437124e-03 8.10985564e+00] [ 1.65333288e-03 9.99988141e-01 -4.58081535e-03 -5.79048020e-01] [ 2.83197067e-03 4.57612109e-03 9.99985519e-01 -2.32702781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09719347 meters Centerline goodness [0,1] 0.9080872263621202 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.58, Z:-2.33 [[ 9.99993000e-01 -2.18226200e-03 -3.03925798e-03 8.10981219e+00] [ 2.16929743e-03 9.99988563e-01 -4.26248630e-03 -5.81063064e-01] [ 3.04852508e-03 4.25586341e-03 9.99986297e-01 -2.32613345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12719347 meters Centerline goodness [0,1] 0.8927857380873042 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.58, Z:-2.33 [[ 9.99997459e-01 -2.05220004e-03 -9.33341462e-04 8.12849284e+00] [ 2.04923410e-03 9.99992883e-01 -3.16769247e-03 -5.83441287e-01] [ 9.39835558e-04 3.16577178e-03 9.99994547e-01 -2.32609886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15719347 meters Centerline goodness [0,1] 0.8982090181205226 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.58, Z:-2.32 [[ 9.99990575e-01 -4.30853371e-03 -5.35263074e-04 8.12580418e+00] [ 4.30556392e-03 9.99975984e-01 -5.43078165e-03 -5.81523013e-01] [ 5.58648925e-04 5.42842585e-03 9.99985110e-01 -2.32340716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18719347 meters Centerline goodness [0,1] 0.8971753538648101 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.58, Z:-2.32 [[ 9.99989183e-01 -4.60087337e-03 -6.81845776e-04 8.12598913e+00] [ 4.59687077e-03 9.99972846e-01 -5.75993121e-03 -5.80886079e-01] [ 7.08327975e-04 5.75673455e-03 9.99983179e-01 -2.32308700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21719346999998 meters Centerline goodness [0,1] 0.9051707849600067 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.58, Z:-2.32 [[ 9.99987833e-01 -4.86767270e-03 -7.99672824e-04 8.12609528e+00] [ 4.86255599e-03 9.99968455e-01 -6.28047543e-03 -5.79328025e-01] [ 8.30218897e-04 6.27651056e-03 9.99979958e-01 -2.32284807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24719346999998 meters Centerline goodness [0,1] 0.9051707849600067 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.58, Z:-2.32 [[ 9.99987833e-01 -4.86767270e-03 -7.99672824e-04 8.12609528e+00] [ 4.86255599e-03 9.99968455e-01 -6.28047543e-03 -5.79328025e-01] [ 8.30218897e-04 6.27651056e-03 9.99979958e-01 -2.32284807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27719347 meters Centerline goodness [0,1] 0.8996146274033427 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.58, Z:-2.32 [[ 9.99997855e-01 -1.68488046e-03 -1.20474785e-03 8.12699500e+00] [ 1.68156103e-03 9.99994802e-01 -2.75101518e-03 -5.79044806e-01] [ 1.20937672e-03 2.74898342e-03 9.99995490e-01 -2.32285816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30719347 meters Centerline goodness [0,1] 0.9034740915208613 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.58, Z:-2.32 [[ 9.99999713e-01 -1.85056365e-05 -7.57973834e-04 8.12490342e+00] [ 1.75752554e-05 9.99999247e-01 -1.22744631e-03 -5.77086988e-01] [ 7.57995977e-04 1.22743263e-03 9.99998959e-01 -2.32116004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33719347 meters Centerline goodness [0,1] 0.9069806384092098 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.57, Z:-2.32 [[ 9.99995009e-01 2.99287017e-03 -1.01260395e-03 8.12592107e+00] [-2.99172012e-03 9.99994880e-01 1.13534407e-03 -5.73465022e-01] [ 1.01599670e-03 -1.13230897e-03 9.99998843e-01 -2.32165700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36719347 meters Centerline goodness [0,1] 0.9064914343298622 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.57, Z:-2.32 [[ 9.99994851e-01 2.96909884e-03 -1.21726381e-03 8.12677064e+00] [-2.96891322e-03 9.99995581e-01 1.54271838e-04 -5.70122522e-01] [ 1.21771648e-03 -1.50657093e-04 9.99999247e-01 -2.32230646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39719347 meters Centerline goodness [0,1] 0.9068219983207388 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.57, Z:-2.32 [[ 9.99994149e-01 3.04903763e-03 -1.55082752e-03 8.12797926e+00] [-3.05058252e-03 9.99994852e-01 -9.94785408e-04 -5.65861829e-01] [ 1.54778639e-03 9.99510515e-04 9.99998303e-01 -2.32317132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42719347 meters Centerline goodness [0,1] 0.9076469110999498 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.56, Z:-2.32 [[ 9.99980284e-01 5.96946477e-03 -1.94837179e-03 8.12998669e+00] [-5.96686708e-03 9.99981305e-01 1.33636653e-03 -5.62467191e-01] [ 1.95631276e-03 -1.32471451e-03 9.99997209e-01 -2.32460192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45719347 meters Centerline goodness [0,1] 0.9069899363405256 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.56, Z:-2.33 [[ 9.99952033e-01 9.54141350e-03 -2.21192461e-03 8.13110740e+00] [-9.53157926e-03 9.99944828e-01 4.41471869e-03 -5.59914889e-01] [ 2.25392523e-03 -4.39342380e-03 9.99987809e-01 -2.32528832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48719347 meters Centerline goodness [0,1] 0.9049536512730171 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.56, Z:-2.33 [[ 9.99891043e-01 1.45709803e-02 -2.36420989e-03 8.13146962e+00] [-1.45525983e-02 9.99865112e-01 7.61443667e-03 -5.55202332e-01] [ 2.47484079e-03 -7.57920162e-03 9.99968215e-01 -2.32517231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51719347 meters Centerline goodness [0,1] 0.9068649161657704 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.55, Z:-2.33 [[ 9.99880640e-01 1.52484444e-02 -2.48809049e-03 8.13187685e+00] [-1.52304349e-02 9.99858778e-01 7.10343226e-03 -5.52386350e-01] [ 2.59605541e-03 -7.06468970e-03 9.99971675e-01 -2.32536007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54719347 meters Centerline goodness [0,1] 0.9073538048494001 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.55, Z:-2.33 [[ 9.99798936e-01 1.98852005e-02 -2.58197989e-03 8.13301829e+00] [-1.98567355e-02 9.99746451e-01 1.06180453e-02 -5.50337528e-01] [ 2.79246719e-03 -1.05646407e-02 9.99940293e-01 -2.32625758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57719347 meters Centerline goodness [0,1] 0.9077492326451667 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.55, Z:-2.33 [[ 9.99796746e-01 1.99874556e-02 -2.63959034e-03 8.13332299e+00] [-1.99591416e-02 9.99747228e-01 1.03495146e-02 -5.49207726e-01] [ 2.84578359e-03 -1.02947271e-02 9.99942958e-01 -2.32633739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60719347 meters Centerline goodness [0,1] 0.9097709505447036 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.55, Z:-2.33 [[ 9.99858044e-01 1.66441216e-02 -2.62009236e-03 8.13277720e+00] [-1.66271554e-02 9.99841473e-01 6.36923488e-03 -5.47142938e-01] [ 2.72568732e-03 -6.32476605e-03 9.99976284e-01 -2.32554980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63719347 meters Centerline goodness [0,1] 0.9096469104665826 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.55, Z:-2.32 [[ 9.99915846e-01 1.26878911e-02 -2.70515992e-03 8.13265382e+00] [-1.26816097e-02 9.99916878e-01 2.32662500e-03 -5.46169674e-01] [ 2.73445502e-03 -2.29212342e-03 9.99993634e-01 -2.32491166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66719347 meters Centerline goodness [0,1] 0.9044251150614364 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.55, Z:-2.32 [[ 9.99981712e-01 5.53871463e-03 -2.42868974e-03 8.13112569e+00] [-5.54785551e-03 9.99977492e-01 -3.77326203e-03 -5.48794774e-01] [ 2.40773605e-03 3.78666704e-03 9.99989932e-01 -2.32323858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69719347 meters Centerline goodness [0,1] 0.9036638158589378 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.55, Z:-2.32 [[ 9.99995017e-01 1.44698174e-03 -2.80568385e-03 8.13262495e+00] [-1.46663903e-03 9.99974306e-01 -7.01688484e-03 -5.51343696e-01] [ 2.79545846e-03 7.02096480e-03 9.99971445e-01 -2.32413841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72719347 meters Centerline goodness [0,1] 0.900356622844964 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.56, Z:-2.33 [[ 9.99992925e-01 -2.14970380e-03 -3.08673633e-03 8.13484466e+00] [ 2.12035831e-03 9.99952825e-01 -9.47897189e-03 -5.55207421e-01] [ 3.10696770e-03 9.47235984e-03 9.99950309e-01 -2.32605485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75719347 meters Centerline goodness [0,1] 0.8985867436129658 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.56, Z:-2.33 [[ 9.99976263e-01 -6.05491642e-03 -3.28799147e-03 8.13697461e+00] [ 6.01435581e-03 9.99907382e-01 -1.22088434e-02 -5.58604344e-01] [ 3.36161047e-03 1.21887784e-02 9.99920063e-01 -2.32793017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78719347 meters Centerline goodness [0,1] 0.8858286798019176 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.56, Z:-2.33 [[ 9.99824145e-01 -1.87349008e-02 -8.25635018e-04 8.13968522e+00] [ 1.87296070e-02 9.99806518e-01 -6.01063562e-03 -5.64379112e-01] [ 9.38083935e-04 5.99411480e-03 9.99981595e-01 -2.33035441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81719347 meters Centerline goodness [0,1] 0.8579066549251478 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.57, Z:-2.33 [[ 9.99806104e-01 -1.96765797e-02 -7.66405870e-04 8.14022808e+00] [ 1.96718162e-02 9.99789707e-01 -5.79323349e-03 -5.66631520e-01] [ 8.80235720e-04 5.77703361e-03 9.99982925e-01 -2.33042624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84719347 meters Centerline goodness [0,1] 0.8710433515636548 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.57, Z:-2.33 [[ 9.99795494e-01 -2.02113123e-02 -6.88409335e-04 8.14015954e+00] [ 2.02071261e-02 9.99779994e-01 -5.62460137e-03 -5.68393512e-01] [ 8.01938455e-04 5.60954033e-03 9.99983945e-01 -2.32988001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87719347 meters Centerline goodness [0,1] 0.8380262524336886 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.57, Z:-2.33 [[ 9.99779188e-01 -2.10022036e-02 -6.94825744e-04 8.14084526e+00] [ 2.09975990e-02 9.99761055e-01 -6.07735560e-03 -5.68986340e-01] [ 8.22297578e-04 6.06142398e-03 9.99981291e-01 -2.32997563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90719347 meters Centerline goodness [0,1] 0.8417022529818878 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.57, Z:-2.33 [[ 9.99774219e-01 -2.12404788e-02 -5.94114651e-04 8.14078145e+00] [ 2.12363821e-02 9.99755177e-01 -6.21305247e-03 -5.68696207e-01] [ 7.25937407e-04 6.19903284e-03 9.99980522e-01 -2.32954968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93719347 meters Centerline goodness [0,1] 0.8395986284367967 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.56, Z:-2.33 [[ 9.99752680e-01 -2.22346583e-02 -4.45649253e-04 8.14140890e+00] [ 2.22307871e-02 9.99725871e-01 -7.34681804e-03 -5.64899803e-01] [ 6.08881076e-04 7.33509389e-03 9.99972912e-01 -2.32948080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96719346999998 meters Centerline goodness [0,1] 0.8324843053118857 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.56, Z:-2.33 [[ 9.99811866e-01 -1.93906291e-02 -4.86568027e-04 8.14190928e+00] [ 1.93885044e-02 9.99803839e-01 -4.04601720e-03 -5.64286149e-01] [ 5.64927400e-04 4.03582218e-03 9.99991696e-01 -2.32960316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99719346999998 meters Centerline goodness [0,1] 0.8213804146300354 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.56, Z:-2.33 [[ 9.99846801e-01 -1.74757384e-02 -9.86731950e-04 8.14434681e+00] [ 1.74739565e-02 9.99845723e-01 -1.78655506e-03 -5.62657410e-01] [ 1.01780109e-03 1.76903925e-03 9.99997917e-01 -2.33097707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02719347 meters Centerline goodness [0,1] 0.802971235907702 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.56, Z:-2.33 [[ 9.99873526e-01 -1.58560666e-02 -1.23182438e-03 8.14714431e+00] [ 1.58556064e-02 9.99874219e-01 -3.82448104e-04 -5.58288246e-01] [ 1.23773356e-03 3.62868411e-04 9.99999168e-01 -2.33302985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05719347 meters Centerline goodness [0,1] 0.7937709731543624 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.56, Z:-2.34 [[ 9.99891093e-01 -1.46520369e-02 -1.76647893e-03 8.15050902e+00] [ 1.46530515e-02 9.99892480e-01 5.62817314e-04 -5.56230687e-01] [ 1.75804258e-03 -5.88640326e-04 9.99998281e-01 -2.33559361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08719347 meters Centerline goodness [0,1] 0.7899583007006329 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.55, Z:-2.34 [[ 9.99912017e-01 -1.30952768e-02 -2.11454869e-03 8.15315984e+00] [ 1.30994000e-02 9.99912302e-01 1.94798815e-03 -5.53565887e-01] [ 2.08885380e-03 -1.97551608e-03 9.99995867e-01 -2.33780685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11719347 meters Centerline goodness [0,1] 0.7829600016921547 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.55, Z:-2.34 [[ 9.99933186e-01 -1.12131245e-02 -2.80891325e-03 8.15641563e+00] [ 1.12236477e-02 9.99929947e-01 3.75901879e-03 -5.50918001e-01] [ 2.76656614e-03 -3.79029388e-03 9.99988990e-01 -2.34000464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14719347 meters Centerline goodness [0,1] 0.793044361236276 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.55, Z:-2.34 [[ 9.99946484e-01 -9.82879243e-03 -3.22855815e-03 8.15912332e+00] [ 9.84528092e-03 9.99938367e-01 5.13151368e-03 -5.48541817e-01] [ 3.17792258e-03 -5.16302512e-03 9.99981622e-01 -2.34209606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17719347 meters Centerline goodness [0,1] 0.7515337423312883 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.54, Z:-2.34 [[ 9.99943865e-01 -9.94695017e-03 -3.65035903e-03 8.16233781e+00] [ 9.96374128e-03 9.99939730e-01 4.61086045e-03 -5.42416896e-01] [ 3.60427502e-03 -4.64697285e-03 9.99982707e-01 -2.34425151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20719347 meters Centerline goodness [0,1] 0.7672128381940491 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.54, Z:-2.34 [[ 9.99935686e-01 -1.06445571e-02 -3.91377643e-03 8.16356434e+00] [ 1.06586945e-02 9.99936681e-01 3.60926187e-03 -5.39236233e-01] [ 3.87510962e-03 -3.65074549e-03 9.99985828e-01 -2.34469528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23719347 meters Centerline goodness [0,1] 0.727284229171499 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.54, Z:-2.35 [[ 9.99927942e-01 -1.13301610e-02 -3.96706978e-03 8.16434793e+00] [ 1.13404432e-02 9.99932369e-01 2.57904545e-03 -5.35952574e-01] [ 3.93758049e-03 -2.62384794e-03 9.99988805e-01 -2.34511281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26719347 meters Centerline goodness [0,1] 0.7161108659564185 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.53, Z:-2.35 [[ 9.99918601e-01 -1.20770983e-02 -4.11533324e-03 8.16545624e+00] [ 1.20833489e-02 9.99925872e-01 1.49739331e-03 -5.32899071e-01] [ 4.09694401e-03 -1.54699843e-03 9.99990411e-01 -2.34571429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29719347 meters Centerline goodness [0,1] 0.7316760796993429 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.53, Z:-2.35 [[ 9.99921580e-01 -1.17704589e-02 -4.27665751e-03 8.16791406e+00] [ 1.17771215e-02 9.99929467e-01 1.53606775e-03 -5.27195073e-01] [ 4.25827565e-03 -1.58631400e-03 9.99989675e-01 -2.34733940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32719347 meters Centerline goodness [0,1] 0.7308270040408742 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.52, Z:-2.35 [[ 9.99913539e-01 -1.24348084e-02 -4.27660861e-03 8.16844404e+00] [ 1.24358103e-02 9.99922651e-01 2.07763097e-04 -5.22690677e-01] [ 4.27369433e-03 -2.60928227e-04 9.99990834e-01 -2.34751173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35719347 meters Centerline goodness [0,1] 0.7135752830388319 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.51, Z:-2.35 [[ 9.99925523e-01 -1.16001199e-02 -3.79296837e-03 8.16785787e+00] [ 1.16019630e-02 9.99932587e-01 4.64296217e-04 -5.14030162e-01] [ 3.78732679e-03 -5.08267516e-04 9.99992699e-01 -2.34649637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38719347 meters Centerline goodness [0,1] 0.7133337564257156 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.51, Z:-2.35 [[ 9.99953655e-01 -8.92979728e-03 -3.59822850e-03 8.16790304e+00] [ 8.94042204e-03 9.99955689e-01 2.94758898e-03 -5.11619009e-01] [ 3.57174769e-03 -2.97962206e-03 9.99989182e-01 -2.34637983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41719347 meters Centerline goodness [0,1] 0.7183437955741552 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.51, Z:-2.35 [[ 9.99949456e-01 -9.32776865e-03 -3.75219115e-03 8.16880208e+00] [ 9.33360655e-03 9.99955253e-01 1.54137501e-03 -5.06917559e-01] [ 3.73764566e-03 -1.57631858e-03 9.99991773e-01 -2.34665351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44719347 meters Centerline goodness [0,1] 0.7146079733518858 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.50, Z:-2.35 [[ 9.99964869e-01 -7.35378538e-03 -4.02266834e-03 8.17069204e+00] [ 7.36545352e-03 9.99968688e-01 2.89351317e-03 -5.02251620e-01] [ 4.00126411e-03 -2.92304029e-03 9.99987723e-01 -2.34792617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47719347 meters Centerline goodness [0,1] 0.7195764963934703 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.50, Z:-2.35 [[ 9.99978649e-01 -5.02538313e-03 -4.17708736e-03 8.17249352e+00] [ 5.04358828e-03 9.99977779e-01 4.35928877e-03 -4.96459165e-01] [ 4.15508745e-03 -4.38026320e-03 9.99981774e-01 -2.34935490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50719347 meters Centerline goodness [0,1] 0.7592522099564353 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.49, Z:-2.35 [[ 9.99987734e-01 -7.17289555e-04 -4.90081236e-03 8.17715400e+00] [ 7.46914933e-04 9.99981445e-01 6.04583971e-03 -4.85446420e-01] [ 4.89638481e-03 -6.04942604e-03 9.99969714e-01 -2.35314800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53719347 meters Centerline goodness [0,1] 0.774544311753614 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.48, Z:-2.36 [[ 9.99994445e-01 3.31826966e-03 -3.13248683e-04 8.18860130e+00] [-3.31834339e-03 9.99994467e-01 -2.35124854e-04 -4.79252040e-01] [ 3.12466742e-04 2.36163015e-04 9.99999923e-01 -2.35651575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56719347 meters Centerline goodness [0,1] 0.7806630530694567 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.47, Z:-2.36 [[ 9.99978049e-01 6.61453740e-03 -3.87267409e-04 8.18923339e+00] [-6.61386404e-03 9.99976658e-01 1.71495865e-03 -4.73540632e-01] [ 3.98602028e-04 -1.71235967e-03 9.99998454e-01 -2.35659312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59719347 meters Centerline goodness [0,1] 0.8114529265307845 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.47, Z:-2.36 [[ 9.99952258e-01 9.76714665e-03 -2.91979299e-04 8.18922262e+00] [-9.76601019e-03 9.99945581e-01 3.66872487e-03 -4.67748152e-01] [ 3.27796383e-04 -3.66569825e-03 9.99993228e-01 -2.35618835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62719347 meters Centerline goodness [0,1] 0.8315148439482365 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.46, Z:-2.36 [[ 9.99880198e-01 1.54770661e-02 -2.23008811e-04 8.18923978e+00] [-1.54749880e-02 9.99852771e-01 7.41360365e-03 -4.58298869e-01] [ 3.37716811e-04 -7.40926442e-03 9.99972494e-01 -2.35506336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65719347 meters Centerline goodness [0,1] 0.8377177202598887 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.45, Z:-2.36 [[ 9.99881902e-01 1.53592132e-02 -5.25575468e-04 8.19023060e+00] [-1.53558233e-02 9.99864453e-01 5.93916715e-03 -4.53598235e-01] [ 6.16725162e-04 -5.93039510e-03 9.99982225e-01 -2.35519606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68719347 meters Centerline goodness [0,1] 0.8351025586804821 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.45, Z:-2.36 [[ 9.99884983e-01 1.51454411e-02 -7.97825086e-04 8.19138973e+00] [-1.51416034e-02 9.99874711e-01 4.61464129e-03 -4.49231752e-01] [ 8.67615905e-04 -4.60203017e-03 9.99989034e-01 -2.35569103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71719346999998 meters Centerline goodness [0,1] 0.8407678206451885 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.45, Z:-2.36 [[ 9.99887519e-01 1.49619910e-02 -1.04268659e-03 8.19261206e+00] [-1.49582709e-02 9.99882033e-01 3.48866804e-03 -4.45332203e-01] [ 1.09476101e-03 -3.47267885e-03 9.99993371e-01 -2.35634368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74719346999998 meters Centerline goodness [0,1] 0.8474086875882564 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.44, Z:-2.36 [[ 9.99859495e-01 1.67151145e-02 -1.26308987e-03 8.19502750e+00] [-1.67092612e-02 9.99850216e-01 4.51064528e-03 -4.40237499e-01] [ 1.33829663e-03 -4.48890622e-03 9.99989029e-01 -2.35796748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77719347 meters Centerline goodness [0,1] 0.8436816422682147 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.44, Z:-2.36 [[ 9.99862275e-01 1.65244662e-02 -1.54021387e-03 8.19612221e+00] [-1.65183362e-02 9.99855913e-01 3.91120010e-03 -4.38363130e-01] [ 1.60462244e-03 -3.88521966e-03 9.99991165e-01 -2.35832992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80719347 meters Centerline goodness [0,1] 0.854313287538455 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.44, Z:-2.36 [[ 9.99863713e-01 1.64157664e-02 -1.75445057e-03 8.19726082e+00] [-1.64096654e-02 9.99859445e-01 3.43702287e-03 -4.37165369e-01] [ 1.81062534e-03 -3.40776451e-03 9.99992554e-01 -2.35891584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83719347 meters Centerline goodness [0,1] 0.8552060051448572 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.44, Z:-2.36 [[ 9.99859964e-01 1.66272014e-02 -1.89426977e-03 8.19835526e+00] [-1.66212162e-02 9.99856950e-01 3.13269774e-03 -4.36221811e-01] [ 1.94608679e-03 -3.10077398e-03 9.99993299e-01 -2.35958537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86719347 meters Centerline goodness [0,1] 0.8736750981799755 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.43, Z:-2.36 [[ 9.99760240e-01 2.18216971e-02 -1.80993873e-03 8.19928165e+00] [-2.18085700e-02 9.99737796e-01 6.98041894e-03 -4.34872292e-01] [ 1.96178875e-03 -6.93927314e-03 9.99973999e-01 -2.35973826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89719347 meters Centerline goodness [0,1] 0.8703136550850142 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.43, Z:-2.36 [[ 9.99655630e-01 2.61828333e-02 -1.75533969e-03 8.19982182e+00] [-2.61624980e-02 9.99599904e-01 1.07496572e-02 -4.33605575e-01] [ 2.03609387e-03 -1.07000313e-02 9.99940680e-01 -2.35981609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92719347 meters Centerline goodness [0,1] 0.8775380844725221 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.43, Z:-2.36 [[ 9.99525701e-01 3.07519776e-02 -1.63983372e-03 8.20049318e+00] [-3.07246343e-02 9.99420012e-01 1.46845493e-02 -4.31981820e-01] [ 2.09046157e-03 -1.46272012e-02 9.99890832e-01 -2.36009809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95719347 meters Centerline goodness [0,1] 0.8791213389121338 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.43, Z:-2.36 [[ 9.99195305e-01 3.98820581e-02 4.26201210e-03 8.21048780e+00] [-3.99390876e-02 9.99100379e-01 1.42584054e-02 -4.30125871e-01] [-3.68952335e-03 -1.44171526e-02 9.99889260e-01 -2.36276872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98719347 meters Centerline goodness [0,1] 0.8834196343654233 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.43, Z:-2.36 [[ 9.99170176e-01 4.05156664e-02 4.17608385e-03 8.21089796e+00] [-4.05733278e-02 9.99066989e-01 1.47971778e-02 -4.31420883e-01] [-3.57267000e-03 -1.49543363e-02 9.99881795e-01 -2.36281248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01719347 meters Centerline goodness [0,1] 0.8841155463516683 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.43, Z:-2.36 [[ 9.99276354e-01 3.78333074e-02 3.92547171e-03 8.21173648e+00] [-3.78767477e-02 9.99214449e-01 1.16548789e-02 -4.32826393e-01] [-3.48144544e-03 -1.17951290e-02 9.99924374e-01 -2.36333683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04719347 meters Centerline goodness [0,1] 0.8833431529332547 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.44, Z:-2.36 [[ 9.99354254e-01 3.57700222e-02 3.40301347e-03 8.21379339e+00] [-3.58008769e-02 9.99313932e-01 9.48484197e-03 -4.35633296e-01] [-3.06140576e-03 -9.60054804e-03 9.99949227e-01 -2.36486354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07719347 meters Centerline goodness [0,1] 0.8835108506123821 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.44, Z:-2.37 [[ 9.99404503e-01 3.43703750e-02 3.05229602e-03 8.21623884e+00] [-3.43960039e-02 9.99369682e-01 8.78370451e-03 -4.42524585e-01] [-2.74847289e-03 -8.88346063e-03 9.99956764e-01 -2.36705166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10719347 meters Centerline goodness [0,1] 0.8841154855643044 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.44, Z:-2.37 [[ 9.99500339e-01 3.14950544e-02 2.67100402e-03 8.21710833e+00] [-3.15107255e-02 9.99485143e-01 6.04337136e-03 -4.44895393e-01] [-2.47929253e-03 -6.12451700e-03 9.99978171e-01 -2.36736868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13719347 meters Centerline goodness [0,1] 0.8841154855643044 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.44, Z:-2.37 [[ 9.99500339e-01 3.14950544e-02 2.67100402e-03 8.21710833e+00] [-3.15107255e-02 9.99485143e-01 6.04337136e-03 -4.44895393e-01] [-2.47929253e-03 -6.12451700e-03 9.99978171e-01 -2.36736868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16719347 meters Centerline goodness [0,1] 0.8822284169269141 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.45, Z:-2.37 [[ 9.99587420e-01 2.86350552e-02 2.24139131e-03 8.21806758e+00] [-2.86428094e-02 9.99583557e-01 3.50749284e-03 -4.48133118e-01] [-2.14002065e-03 -3.57024546e-03 9.99991337e-01 -2.36769777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19719347 meters Centerline goodness [0,1] 0.8856134567431638 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.45, Z:-2.37 [[ 9.99660682e-01 2.59796816e-02 1.89141700e-03 8.21897952e+00] [-2.59824904e-02 9.99661309e-01 1.47588894e-03 -4.52800804e-01] [-1.85243327e-03 -1.52453187e-03 9.99997122e-01 -2.36823142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22719347 meters Centerline goodness [0,1] 0.8799468118786804 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.46, Z:-2.37 [[ 9.99720875e-01 2.35893467e-02 1.30977129e-03 8.22071225e+00] [-2.35891595e-02 9.99721725e-01 -1.58161557e-04 -4.58319370e-01] [-1.31313774e-03 1.27221006e-04 9.99999130e-01 -2.36927801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25719347 meters Centerline goodness [0,1] 0.8810246039770813 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.47, Z:-2.37 [[ 9.99789434e-01 2.05196751e-02 1.76729583e-04 8.22411333e+00] [-2.05192918e-02 9.99787555e-01 -1.95043851e-03 -4.69985831e-01] [-2.16714403e-04 1.94640145e-03 9.99998082e-01 -2.37111806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28719347 meters Centerline goodness [0,1] 0.8815758882336778 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.48, Z:-2.37 [[ 9.99842751e-01 1.77333999e-02 9.15534693e-06 8.22414268e+00] [-1.77332341e-02 9.99835385e-01 -3.83859251e-03 -4.75622914e-01] [-7.72251358e-05 3.83782654e-03 9.99992633e-01 -2.37085259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31719347 meters Centerline goodness [0,1] 0.8861409140829603 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.49, Z:-2.37 [[ 9.99908814e-01 1.34899547e-02 6.20428553e-04 8.22210563e+00] [-1.34864058e-02 9.99894435e-01 -5.40694268e-03 -4.90968937e-01] [-6.93302470e-04 5.39808229e-03 9.99985190e-01 -2.36880375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34719347 meters Centerline goodness [0,1] 0.891068597399852 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.50, Z:-2.37 [[ 9.99939062e-01 1.10221945e-02 6.19565504e-04 8.22174590e+00] [-1.10179916e-02 9.99918685e-01 -6.42083473e-03 -4.98234036e-01] [-6.90286813e-04 6.41361709e-03 9.99979194e-01 -2.36832814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37719347 meters Centerline goodness [0,1] 0.8918816388467374 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.50, Z:-2.37 [[ 9.99964638e-01 8.40647173e-03 2.33460699e-04 8.22284554e+00] [-8.40444887e-03 9.99935645e-01 -7.62040833e-03 -5.04943909e-01] [-2.97506421e-04 7.61817675e-03 9.99970937e-01 -2.36884137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40719347 meters Centerline goodness [0,1] 0.8908253585989818 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.51, Z:-2.37 [[ 9.99983989e-01 5.65843799e-03 -6.80477593e-05 8.22400303e+00] [-5.65881990e-03 9.99944182e-01 -8.92243693e-03 -5.11548269e-01] [ 1.75569050e-05 8.92267914e-03 9.99960192e-01 -2.36965259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43719347 meters Centerline goodness [0,1] 0.8892536936481878 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.52, Z:-2.37 [[ 9.99996306e-01 2.68672013e-03 -4.12940479e-04 8.22514078e+00] [-2.69082409e-03 9.99943521e-01 -1.02817747e-02 -5.18514417e-01] [ 3.85292905e-04 1.02828479e-02 9.99947056e-01 -2.37025150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46719346999998 meters Centerline goodness [0,1] 0.8895370957514268 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.53, Z:-2.37 [[ 9.99986310e-01 -5.20301672e-03 5.55022022e-04 8.22457704e+00] [ 5.20824928e-03 9.99937585e-01 -9.88430403e-03 -5.34923027e-01] [-5.03559181e-04 9.88705941e-03 9.99950995e-01 -2.36988074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49719346999998 meters Centerline goodness [0,1] 0.8963878326996197 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.54, Z:-2.37 [[ 9.99963706e-01 -8.51235351e-03 3.56415949e-04 8.22541138e+00] [ 8.51591781e-03 9.99896354e-01 -1.16086036e-02 -5.41578446e-01] [-2.57562470e-04 1.16112175e-02 9.99932554e-01 -2.37032166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52719347 meters Centerline goodness [0,1] 0.8918833494879683 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.55, Z:-2.37 [[ 9.99933316e-01 -1.15482383e-02 -3.10261854e-05 8.22701409e+00] [ 1.15467954e-02 9.99844242e-01 -1.33477622e-02 -5.47458192e-01] [ 1.85164492e-04 1.33465139e-02 9.99910914e-01 -2.37132776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55719347 meters Centerline goodness [0,1] 0.8942138976386276 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.55, Z:-2.37 [[ 9.99898568e-01 -1.42367910e-02 -4.10153181e-04 8.22893613e+00] [ 1.42289944e-02 9.99785174e-01 -1.50712099e-02 -5.52140813e-01] [ 6.24630735e-04 1.50638451e-02 9.99886339e-01 -2.37276277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58719347 meters Centerline goodness [0,1] 0.8648128975003697 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.56, Z:-2.37 [[ 9.99858822e-01 -1.67775650e-02 -9.21948606e-04 8.23117260e+00] [ 1.67607285e-02 9.99732217e-01 -1.59553520e-02 -5.58936671e-01] [ 1.18939368e-03 1.59376469e-02 9.99872280e-01 -2.37426078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61719347 meters Centerline goodness [0,1] 0.8926818950930626 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.56, Z:-2.37 [[ 9.99862454e-01 -1.65437609e-02 -1.17368614e-03 8.23187080e+00] [ 1.65246138e-02 9.99754144e-01 -1.47847615e-02 -5.62415457e-01] [ 1.41799314e-03 1.47633332e-02 9.99890011e-01 -2.37455092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64719347 meters Centerline goodness [0,1] 0.8620128841482733 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.57, Z:-2.37 [[ 9.99866442e-01 -1.62807630e-02 -1.42667922e-03 8.23254374e+00] [ 1.62597981e-02 9.99774681e-01 -1.36457481e-02 -5.65973309e-01] [ 1.64852096e-03 1.36207281e-02 9.99905875e-01 -2.37483378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67719347 meters Centerline goodness [0,1] 0.8784014862040574 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.57, Z:-2.38 [[ 9.99870053e-01 -1.60394135e-02 -1.61692781e-03 8.23319266e+00] [ 1.60177495e-02 9.99792030e-01 -1.26225014e-02 -5.69431373e-01] [ 1.81904906e-03 1.25949615e-02 9.99919026e-01 -2.37521523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70719347 meters Centerline goodness [0,1] 0.8808980695306889 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.57, Z:-2.38 [[ 9.99871953e-01 -1.59069139e-02 -1.74549510e-03 8.23379294e+00] [ 1.58845530e-02 9.99799972e-01 -1.21530280e-02 -5.71132443e-01] [ 1.93846312e-03 1.21237455e-02 9.99924626e-01 -2.37569781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73719347 meters Centerline goodness [0,1] 0.891767972069154 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.57, Z:-2.38 [[ 9.99929762e-01 -1.16951101e-02 -1.92252440e-03 8.23452182e+00] [ 1.16795142e-02 9.99900326e-01 -7.93260852e-03 -5.71155868e-01] [ 2.01510550e-03 7.90959720e-03 9.99966688e-01 -2.37630085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76719347 meters Centerline goodness [0,1] 0.8928526249209361 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.57, Z:-2.38 [[ 9.99969011e-01 -7.58946923e-03 -2.09235633e-03 8.23488219e+00] [ 7.58149824e-03 9.99964072e-01 -3.79154223e-03 -5.71239692e-01] [ 2.12105695e-03 3.77556153e-03 9.99990623e-01 -2.37642655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79719347 meters Centerline goodness [0,1] 0.8939060436450538 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.57, Z:-2.38 [[ 9.99988086e-01 -4.02254830e-03 -2.76538132e-03 8.23730149e+00] [ 4.02002922e-03 9.99991500e-01 -9.15891754e-04 -5.68948466e-01] [ 2.76904203e-03 9.04763928e-04 9.99995757e-01 -2.37814984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82719347 meters Centerline goodness [0,1] 0.8939703251604756 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.57, Z:-2.38 [[ 9.99988116e-01 -3.87098405e-03 -2.96365609e-03 8.23788583e+00] [ 3.86707896e-03 9.99991649e-01 -1.32225882e-03 -5.66940130e-01] [ 2.96874978e-03 1.31078241e-03 9.99994734e-01 -2.37849687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85719347 meters Centerline goodness [0,1] 0.8932944116597014 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.57, Z:-2.38 [[ 9.99991963e-01 -2.05515270e-03 -3.44230357e-03 8.24004415e+00] [ 2.05641157e-03 9.99997820e-01 3.62206247e-04 -5.66150835e-01] [ 3.44155168e-03 -3.69282129e-04 9.99994010e-01 -2.37997150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88719347 meters Centerline goodness [0,1] 0.892744413553795 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99990797e-01 -2.13484186e-03 -3.72139361e-03 8.24054011e+00] [ 2.13488836e-03 9.99997721e-01 8.52078530e-06 -5.64989289e-01] [ 3.72136694e-03 -1.64654668e-05 9.99993076e-01 -2.37987281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91719347 meters Centerline goodness [0,1] 0.8909258522072534 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99991268e-01 -2.08285026e-03 -3.62303990e-03 8.23984040e+00] [ 2.08265926e-03 9.99997830e-01 -5.64904617e-05 -5.64450457e-01] [ 3.62314970e-03 4.89444108e-05 9.99993435e-01 -2.37905252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94719347 meters Centerline goodness [0,1] 0.8916959210966232 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99990447e-01 -1.94188338e-03 -3.91599176e-03 8.24065217e+00] [ 1.94144272e-03 9.99998109e-01 -1.16327134e-04 -5.63962867e-01] [ 3.91621025e-03 1.08723349e-04 9.99992326e-01 -2.37942092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97719347 meters Centerline goodness [0,1] 0.8902548662945076 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99990321e-01 -1.68014437e-03 -4.06633274e-03 8.24127381e+00] [ 1.67908443e-03 9.99998555e-01 -2.64063840e-04 -5.62716173e-01] [ 4.06677053e-03 2.57233568e-04 9.99991698e-01 -2.37991691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00719347 meters Centerline goodness [0,1] 0.8875096974398758 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99990720e-01 -1.31781668e-03 -4.10151105e-03 8.24161331e+00] [ 1.31615735e-03 9.99999051e-01 -4.07238200e-04 -5.61085186e-01] [ 4.10204382e-03 4.01836187e-04 9.99991506e-01 -2.38034023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03719347 meters Centerline goodness [0,1] 0.8850577111727995 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99987694e-01 1.99391194e-03 -4.54275156e-03 8.24363088e+00] [-1.98254774e-03 9.99994898e-01 2.50474359e-03 -5.59398562e-01] [ 4.54772262e-03 -2.49570655e-03 9.99986545e-01 -2.38186005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06719347 meters Centerline goodness [0,1] 0.8848842790658847 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99986728e-01 2.16540346e-03 -4.67484580e-03 8.24391222e+00] [-2.15460833e-03 9.99995004e-01 2.31299900e-03 -5.58447317e-01] [ 4.67983102e-03 -2.30289584e-03 9.99986398e-01 -2.38190890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09719347 meters Centerline goodness [0,1] 0.8833808918789444 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99986220e-01 2.24797695e-03 -4.74399261e-03 8.24413842e+00] [-2.23859510e-03 9.99995530e-01 1.98201070e-03 -5.57287025e-01] [ 4.74842692e-03 -1.97136351e-03 9.99986783e-01 -2.38205565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12719347 meters Centerline goodness [0,1] 0.8815986990242682 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.56, Z:-2.38 [[ 9.99986007e-01 2.27621814e-03 -4.77533466e-03 8.24427517e+00] [-2.26896022e-03 9.99996263e-01 1.52474502e-03 -5.55715499e-01] [ 4.77878747e-03 -1.51388864e-03 9.99987436e-01 -2.38213764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15719347 meters Centerline goodness [0,1] 0.8793247012781548 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.55, Z:-2.38 [[ 9.99984695e-01 2.33835202e-03 -5.01408478e-03 8.24517297e+00] [-2.33223636e-03 9.99996530e-01 1.22519523e-03 -5.54984419e-01] [ 5.01693232e-03 -1.21348245e-03 9.99986679e-01 -2.38278564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18719347 meters Centerline goodness [0,1] 0.878761429758936 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.55, Z:-2.38 [[ 9.99984226e-01 1.43828087e-03 -5.42952617e-03 8.24719209e+00] [-1.43682537e-03 9.99998931e-01 2.71962901e-04 -5.54642751e-01] [ 5.42991152e-03 -2.64157330e-04 9.99985223e-01 -2.38427062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21719346999998 meters Centerline goodness [0,1] 0.8799725223256104 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.38 [[ 9.99984259e-01 1.20109898e-03 -5.48073227e-03 8.24754470e+00] [-1.19988595e-03 9.99999255e-01 2.24607914e-04 -5.55191632e-01] [ 5.48099796e-03 -2.18028125e-04 9.99984955e-01 -2.38460691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24719346999998 meters Centerline goodness [0,1] 0.8794681185216208 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.55, Z:-2.39 [[ 9.99979486e-01 -3.29597925e-03 -5.49224229e-03 8.24791421e+00] [ 3.27363624e-03 9.99986350e-01 -4.07213927e-03 -5.54849473e-01] [ 5.50558900e-03 4.05407613e-03 9.99976626e-01 -2.38513333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27719347 meters Centerline goodness [0,1] 0.8811474551055047 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.39 [[ 9.99976134e-01 -3.89490584e-03 -5.70630040e-03 8.24840595e+00] [ 3.87323120e-03 9.99985262e-01 -3.80450946e-03 -5.56776545e-01] [ 5.72103451e-03 3.78231684e-03 9.99976482e-01 -2.38526771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30719347 meters Centerline goodness [0,1] 0.8853447376655889 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.39 [[ 9.99970189e-01 -4.87658350e-03 -5.98666607e-03 8.24941425e+00] [ 4.85472118e-03 9.99981514e-01 -3.66095222e-03 -5.59342035e-01] [ 6.00440835e-03 3.63177949e-03 9.99975378e-01 -2.38589251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33719347 meters Centerline goodness [0,1] 0.8909573356733943 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.39 [[ 9.99964093e-01 -5.84992327e-03 -6.13116297e-03 8.24995175e+00] [ 5.82898445e-03 9.99977137e-01 -3.42747090e-03 -5.62148938e-01] [ 6.15107324e-03 3.39160937e-03 9.99975330e-01 -2.38615619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36719347 meters Centerline goodness [0,1] 0.8797259472782721 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.39 [[ 9.99957188e-01 -6.66892869e-03 -6.41468608e-03 8.25096546e+00] [ 6.64792636e-03 9.99972491e-01 -3.28987069e-03 -5.63998247e-01] [ 6.43644952e-03 3.24708548e-03 9.99974014e-01 -2.38674049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39719347 meters Centerline goodness [0,1] 0.8367077187755702 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.39 [[ 9.99947734e-01 -7.89249389e-03 -6.49904155e-03 8.25205448e+00] [ 7.86825124e-03 9.99962023e-01 -3.74734632e-03 -5.64147539e-01] [ 6.52837064e-03 3.69601437e-03 9.99971860e-01 -2.38798843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42719347 meters Centerline goodness [0,1] 0.8340412242348532 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.39 [[ 9.99947307e-01 -7.78348140e-03 -6.69338211e-03 8.25274425e+00] [ 7.75801479e-03 9.99962601e-01 -3.82232908e-03 -5.63496636e-01] [ 6.72288281e-03 3.77020031e-03 9.99970294e-01 -2.38841843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45719347 meters Centerline goodness [0,1] 0.8469379194630873 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.56, Z:-2.39 [[ 9.99961911e-01 -5.95294812e-03 -6.38271785e-03 8.25095018e+00] [ 5.93806527e-03 9.99979613e-01 -2.34816201e-03 -5.63164340e-01] [ 6.39656621e-03 2.31017158e-03 9.99976873e-01 -2.38697608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48719347 meters Centerline goodness [0,1] 0.8709368626961336 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.56, Z:-2.39 [[ 9.99991487e-01 -4.92110757e-04 -4.09673605e-03 8.26243505e+00] [ 4.62102836e-04 9.99973083e-01 -7.32256334e-03 -5.62732694e-01] [ 4.10022929e-03 7.32060789e-03 9.99964798e-01 -2.38955058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51719347 meters Centerline goodness [0,1] 0.8970400585712791 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.56, Z:-2.39 [[ 9.99968016e-01 6.81897053e-03 -4.17960970e-03 8.26116387e+00] [-6.82236111e-03 9.99976409e-01 -7.97499056e-04 -5.60276464e-01] [ 4.17407298e-03 8.25988355e-04 9.99990947e-01 -2.38775479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54719347 meters Centerline goodness [0,1] 0.8974145468171031 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.56, Z:-2.39 [[ 9.99931670e-01 1.08434027e-02 -4.36759065e-03 8.26099772e+00] [-1.08311480e-02 9.99937366e-01 2.81976846e-03 -5.58648459e-01] [ 4.39789297e-03 -2.77226977e-03 9.99986486e-01 -2.38691310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57719347 meters Centerline goodness [0,1] 0.8960227391476999 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.56, Z:-2.39 [[ 9.99923431e-01 1.15532900e-02 -4.43318544e-03 8.26044526e+00] [-1.15427304e-02 9.99930500e-01 2.40020217e-03 -5.55463199e-01] [ 4.46060756e-03 -2.34884733e-03 9.99987293e-01 -2.38595688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60719347 meters Centerline goodness [0,1] 0.8900676635201737 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.55, Z:-2.39 [[ 9.99918413e-01 1.19179270e-02 -4.59684652e-03 8.26034966e+00] [-1.19095510e-02 9.99927376e-01 1.84522751e-03 -5.52631951e-01] [ 4.61850396e-03 -1.79033059e-03 9.99987732e-01 -2.38537930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63719347 meters Centerline goodness [0,1] 0.8901542906190466 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.55, Z:-2.38 [[ 9.99910660e-01 1.25399954e-02 -4.62832841e-03 8.25967322e+00] [-1.25337022e-02 9.99920489e-01 1.38623385e-03 -5.49303054e-01] [ 4.64534378e-03 -1.32809991e-03 9.99988328e-01 -2.38435989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66719347 meters Centerline goodness [0,1] 0.889496167860284 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.55, Z:-2.38 [[ 9.99912361e-01 1.23644074e-02 -4.73204658e-03 8.25950017e+00] [-1.23593313e-02 9.99923015e-01 1.10044990e-03 -5.48733464e-01] [ 4.74528869e-03 -1.04186852e-03 9.99988198e-01 -2.38388149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69719347 meters Centerline goodness [0,1] 0.8881474353610577 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.55, Z:-2.38 [[ 9.99950725e-01 8.61190279e-03 -4.93789459e-03 8.25971694e+00] [-8.62749820e-03 9.99957834e-01 -3.14575760e-03 -5.47252163e-01] [ 4.91059542e-03 3.18820427e-03 9.99982861e-01 -2.38380942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72719347 meters Centerline goodness [0,1] 0.8910649480665749 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.55, Z:-2.39 [[ 9.99962839e-01 6.72108458e-03 -5.39879290e-03 8.26149059e+00] [-6.74582196e-03 9.99966772e-01 -4.57695334e-03 -5.46905890e-01] [ 5.36785142e-03 4.61320256e-03 9.99974952e-01 -2.38500832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75719347 meters Centerline goodness [0,1] 0.8809947830459469 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.55, Z:-2.39 [[ 9.99965555e-01 6.25430874e-03 -5.45640399e-03 8.26207646e+00] [-6.28182044e-03 9.99967570e-01 -5.03960924e-03 -5.45891332e-01] [ 5.42470776e-03 5.07371180e-03 9.99972415e-01 -2.38569088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78719347 meters Centerline goodness [0,1] 0.8789003063968152 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99962979e-01 6.03336778e-03 -6.13499993e-03 8.26594446e+00] [-6.06550565e-03 9.99967910e-01 -5.23340345e-03 -5.45131054e-01] [ 6.10322801e-03 5.27042159e-03 9.99967486e-01 -2.38886787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81719347 meters Centerline goodness [0,1] 0.8870323511574897 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99963782e-01 5.70388045e-03 -6.31661352e-03 8.26680318e+00] [-5.73890028e-03 9.99968187e-01 -5.53990516e-03 -5.45001907e-01] [ 6.28481361e-03 5.57595493e-03 9.99964704e-01 -2.38958201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84719347 meters Centerline goodness [0,1] 0.8877662250545028 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99962676e-01 5.56611358e-03 -6.60787854e-03 8.26790900e+00] [-5.60293471e-03 9.99968808e-01 -5.56693440e-03 -5.46465753e-01] [ 6.57668624e-03 5.60375014e-03 9.99962672e-01 -2.39037742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87719347 meters Centerline goodness [0,1] 0.888739805865951 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99960873e-01 5.65834479e-03 -6.79961201e-03 8.26872332e+00] [-5.69786488e-03 9.99966907e-01 -5.80686062e-03 -5.45293281e-01] [ 6.76652977e-03 5.84537669e-03 9.99960022e-01 -2.39094382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90719347 meters Centerline goodness [0,1] 0.8886172746646609 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99944070e-01 7.52372821e-03 -7.43308668e-03 8.27171207e+00] [-7.55388222e-03 9.99963320e-01 -4.03701585e-03 -5.43827201e-01] [ 7.40244063e-03 4.09293872e-03 9.99964225e-01 -2.39315239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93719347 meters Centerline goodness [0,1] 0.8925839777037363 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99942337e-01 7.58983282e-03 -7.59723058e-03 8.27224845e+00] [-7.62407456e-03 9.99960863e-01 -4.48836592e-03 -5.41601160e-01] [ 7.56286730e-03 4.54602896e-03 9.99961068e-01 -2.39345759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96719346999998 meters Centerline goodness [0,1] 0.8913499895024144 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99941540e-01 7.56632288e-03 -7.72440263e-03 8.27247569e+00] [-7.60048705e-03 9.99961422e-01 -4.40315540e-03 -5.42254650e-01] [ 7.69078894e-03 4.46160721e-03 9.99960472e-01 -2.39348985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99719346999998 meters Centerline goodness [0,1] 0.8886325503355704 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99942015e-01 7.41562854e-03 -7.80865512e-03 8.27236207e+00] [-7.44734142e-03 9.99964107e-01 -4.04003142e-03 -5.44103075e-01] [ 7.77841547e-03 4.09795087e-03 9.99961351e-01 -2.39312418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02719347 meters Centerline goodness [0,1] 0.8923417959764106 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99942552e-01 7.09987588e-03 -8.03018356e-03 8.27257268e+00] [-7.13020776e-03 9.99967530e-01 -3.75493314e-03 -5.45865126e-01] [ 8.00326326e-03 3.81197431e-03 9.99960708e-01 -2.39283306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05719347 meters Centerline goodness [0,1] 0.8923417959764106 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99942552e-01 7.09987588e-03 -8.03018356e-03 8.27257268e+00] [-7.13020776e-03 9.99967530e-01 -3.75493314e-03 -5.45865126e-01] [ 8.00326326e-03 3.81197431e-03 9.99960708e-01 -2.39283306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08719347 meters Centerline goodness [0,1] 0.8967809364548495 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99961840e-01 3.00442026e-03 -8.20311386e-03 8.27259620e+00] [-3.06545002e-03 9.99967643e-01 -7.43741859e-03 -5.46540428e-01] [ 8.18050330e-03 7.46228102e-03 9.99938695e-01 -2.39244575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11719347 meters Centerline goodness [0,1] 0.8953812025197245 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99960876e-01 2.90810238e-03 -8.35395335e-03 8.27297097e+00] [-2.96532116e-03 9.99972175e-01 -6.84510419e-03 -5.48788682e-01] [ 8.33381464e-03 6.86960854e-03 9.99941676e-01 -2.39255638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14719347 meters Centerline goodness [0,1] 0.8933358425862032 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99959075e-01 2.79521358e-03 -8.60437605e-03 8.27367300e+00] [-2.85065436e-03 9.99975214e-01 -6.43781623e-03 -5.50587256e-01] [ 8.58616771e-03 6.46208087e-03 9.99942258e-01 -2.39286775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17719347 meters Centerline goodness [0,1] 0.8925986360403331 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99957959e-01 2.80023716e-03 -8.73153836e-03 8.27404712e+00] [-2.85284544e-03 9.99977819e-01 -6.01846452e-03 -5.52084606e-01] [ 8.71449156e-03 6.04312122e-03 9.99943768e-01 -2.39304233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20719347 meters Centerline goodness [0,1] 0.8906590642294148 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99956891e-01 2.88336385e-03 -8.82628619e-03 8.27345560e+00] [-2.93437473e-03 9.99979037e-01 -5.77194285e-03 -5.52266727e-01] [ 8.80945855e-03 5.79759366e-03 9.99944389e-01 -2.39193393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23719347 meters Centerline goodness [0,1] 0.8934277300920995 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99954673e-01 3.08565004e-03 -9.00724267e-03 8.27327401e+00] [-3.13866336e-03 9.99977802e-01 -5.87744294e-03 -5.51162612e-01] [ 8.98890700e-03 5.90544724e-03 9.99942161e-01 -2.39116787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26719347 meters Centerline goodness [0,1] 0.8956539864512767 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99951372e-01 4.26235812e-03 -8.89302417e-03 8.27157752e+00] [-4.30826384e-03 9.99977462e-01 -5.14923638e-03 -5.49891648e-01] [ 8.87087585e-03 5.18729947e-03 9.99947198e-01 -2.38926825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29719347 meters Centerline goodness [0,1] 0.8990084542323349 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.55, Z:-2.39 [[ 9.99948160e-01 4.90780145e-03 -8.92132566e-03 8.27090933e+00] [-4.95428088e-03 9.99974232e-01 -5.19531203e-03 -5.47902212e-01] [ 8.89559822e-03 5.23924146e-03 9.99946708e-01 -2.38824356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32719347 meters Centerline goodness [0,1] 0.8979518883001093 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99917203e-01 9.20778801e-03 -8.98907871e-03 8.27080781e+00] [-9.22469788e-03 9.99955756e-01 -1.84151010e-03 -5.44907439e-01] [ 8.97172476e-03 1.92427916e-03 9.99957902e-01 -2.38777738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35719347 meters Centerline goodness [0,1] 0.8978329467327022 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99871723e-01 1.31332888e-02 -9.16812483e-03 8.27141878e+00] [-1.31169453e-02 9.99912275e-01 1.84050601e-03 -5.44147789e-01] [ 9.19149245e-03 -1.72001212e-03 9.99956278e-01 -2.38802822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38719347 meters Centerline goodness [0,1] 0.8952054938362349 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99866093e-01 1.35649207e-02 -9.15367150e-03 8.27137929e+00] [-1.35537246e-02 9.99907320e-01 1.28406108e-03 -5.41597689e-01] [ 9.17024132e-03 -1.15982279e-03 9.99957280e-01 -2.38796461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41719347 meters Centerline goodness [0,1] 0.8959191392788097 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99860156e-01 1.40381518e-02 -9.08838768e-03 8.27129794e+00] [-1.40319861e-02 9.99901272e-01 7.41832042e-04 -5.39041759e-01] [ 9.09790435e-03 -6.14200172e-04 9.99958425e-01 -2.38797139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44719347 meters Centerline goodness [0,1] 0.8958498767083212 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.54, Z:-2.39 [[ 9.99783145e-01 1.87723568e-02 -9.01450882e-03 8.27157841e+00] [-1.87337531e-02 9.99815054e-01 4.34791465e-03 -5.36303528e-01] [ 9.09446223e-03 -4.17809620e-03 9.99949916e-01 -2.38838706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47719347 meters Centerline goodness [0,1] 0.8929447017161536 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.53, Z:-2.39 [[ 9.99772168e-01 1.92643350e-02 -9.19221988e-03 8.27222909e+00] [-1.92272640e-02 9.99806715e-01 4.10435005e-03 -5.34539402e-01] [ 9.26951073e-03 -3.92667371e-03 9.99949327e-01 -2.38883725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50719347 meters Centerline goodness [0,1] 0.8909441313865555 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.53, Z:-2.39 [[ 9.99760961e-01 1.97512617e-02 -9.37596403e-03 8.27319337e+00] [-1.97124003e-02 9.99796789e-01 4.21926915e-03 -5.34210770e-01] [ 9.45739462e-03 -4.03343782e-03 9.99947143e-01 -2.38972559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53719347 meters Centerline goodness [0,1] 0.8877824267782427 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.54, Z:-2.39 [[ 9.99711670e-01 2.18168638e-02 -1.00300636e-02 8.27654070e+00] [-2.17536882e-02 9.99743098e-01 6.36517581e-03 -5.37591192e-01] [ 1.01663550e-02 -6.14514966e-03 9.99929439e-01 -2.39246655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56719347 meters Centerline goodness [0,1] 0.8866072176170141 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.54, Z:-2.39 [[ 9.99769855e-01 1.88873767e-02 -1.01736589e-02 8.27730558e+00] [-1.88584295e-02 9.99817860e-01 2.93378109e-03 -5.37288128e-01] [ 1.02272172e-02 -2.74124667e-03 9.99943943e-01 -2.39332516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59719347 meters Centerline goodness [0,1] 0.8843520215747003 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.54, Z:-2.39 [[ 9.99762800e-01 1.92095015e-02 -1.02635139e-02 8.27772327e+00] [-1.91736014e-02 9.99809743e-01 3.58486815e-03 -5.39058314e-01] [ 1.03304247e-02 -3.38722929e-03 9.99940903e-01 -2.39369759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62719347 meters Centerline goodness [0,1] 0.8818472947918422 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.54, Z:-2.39 [[ 9.99817434e-01 1.60554084e-02 -1.03596987e-02 8.27784065e+00] [-1.60544263e-02 9.99871104e-01 1.77960619e-04 -5.39599576e-01] [ 1.03612206e-02 -1.16091092e-05 9.99946321e-01 -2.39372806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65719347 meters Centerline goodness [0,1] 0.8812209131692592 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.54, Z:-2.40 [[ 9.99823436e-01 1.52288484e-02 -1.10080900e-02 8.28028427e+00] [-1.52323159e-02 9.99883955e-01 -2.31214346e-04 -5.42868777e-01] [ 1.10032914e-02 3.98852226e-04 9.99939382e-01 -2.39525564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68719347 meters Centerline goodness [0,1] 0.8781536278458296 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.55, Z:-2.39 [[ 9.99846013e-01 1.34878091e-02 -1.12263173e-02 8.28027707e+00] [-1.34953468e-02 9.99908756e-01 -5.95942490e-04 -5.52831361e-01] [ 1.12172550e-02 7.47353767e-04 9.99936805e-01 -2.39479282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71719346999998 meters Centerline goodness [0,1] 0.8813641540473278 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.56, Z:-2.39 [[ 9.99883219e-01 1.04595565e-02 -1.11421098e-02 8.28009599e+00] [-1.04939049e-02 9.99940351e-01 -3.02876042e-03 -5.56416408e-01] [ 1.11097657e-02 3.14533096e-03 9.99933338e-01 -2.39490542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74719346999998 meters Centerline goodness [0,1] 0.8862958450615469 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.56, Z:-2.39 [[ 9.99878902e-01 1.06280804e-02 -1.13677111e-02 8.28057005e+00] [-1.06464467e-02 9.99942114e-01 -1.55636580e-03 -5.61159735e-01] [ 1.13505119e-02 1.67720306e-03 9.99934174e-01 -2.39493414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77719347 meters Centerline goodness [0,1] 0.8904115347429484 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.57, Z:-2.39 [[ 9.99905676e-01 8.12522236e-03 -1.10734277e-02 8.27913541e+00] [-8.14550548e-03 9.99965227e-01 -1.78782422e-03 -5.69928034e-01] [ 1.10585162e-02 1.87785425e-03 9.99937089e-01 -2.39350139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80719347 meters Centerline goodness [0,1] 0.8909014054739511 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.57, Z:-2.39 [[ 9.99925740e-01 5.10401651e-03 -1.10662888e-02 8.27860950e+00] [-5.14917421e-03 9.99978517e-01 -4.05600934e-03 -5.73985463e-01] [ 1.10453491e-02 4.11269039e-03 9.99930541e-01 -2.39288882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83719347 meters Centerline goodness [0,1] 0.8907846946532646 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.58, Z:-2.39 [[ 9.99935980e-01 1.89707066e-03 -1.11551673e-02 8.27850467e+00] [-1.96865761e-03 9.99977518e-01 -6.40990587e-03 -5.78412255e-01] [ 1.11427565e-02 6.43145621e-03 9.99917234e-01 -2.39252902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86719347 meters Centerline goodness [0,1] 0.8928465921080396 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.59, Z:-2.39 [[ 9.99929631e-01 -3.65755344e-03 -1.12851435e-02 8.27922857e+00] [ 3.54335894e-03 9.99942488e-01 -1.01224675e-02 -5.89977096e-01] [ 1.13215179e-02 1.00817679e-02 9.99885084e-01 -2.39306686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89719347 meters Centerline goodness [0,1] 0.8924789915966387 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.59, Z:-2.39 [[ 9.99913287e-01 -6.60628894e-03 -1.13918791e-02 8.27999220e+00] [ 6.46638243e-03 9.99903755e-01 -1.22746561e-02 -5.94676177e-01] [ 1.14718727e-02 1.21999275e-02 9.99859769e-01 -2.39372296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92719347 meters Centerline goodness [0,1] 0.8917107806066717 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.60, Z:-2.39 [[ 9.99914489e-01 -6.22657308e-03 -1.14997761e-02 8.28019824e+00] [ 6.10555575e-03 9.99925931e-01 -1.05287464e-02 -6.00184980e-01] [ 1.15644823e-02 1.04576335e-02 9.99878443e-01 -2.39360114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95719347 meters Centerline goodness [0,1] 0.8930202217873451 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.60, Z:-2.39 [[ 9.99917153e-01 -5.75153832e-03 -1.15154792e-02 8.27994764e+00] [ 5.64842754e-03 9.99943845e-01 -8.96669231e-03 -6.04532958e-01] [ 1.15664048e-02 8.90090510e-03 9.99893490e-01 -2.39311171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98719347 meters Centerline goodness [0,1] 0.8932545420255233 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.61, Z:-2.39 [[ 9.99982148e-01 -4.84772847e-03 -3.49319596e-03 8.28435086e+00] [ 4.85269921e-03 9.99987223e-01 1.41590882e-03 -6.11915273e-01] [ 3.48628739e-03 -1.43283497e-03 9.99992896e-01 -2.39325301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01719347 meters Centerline goodness [0,1] 0.8923507973624892 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.61, Z:-2.39 [[ 9.99987932e-01 -3.58894787e-03 -3.35486222e-03 8.28311504e+00] [ 3.59937460e-03 9.99988695e-01 3.10709156e-03 -6.14853593e-01] [ 3.34367310e-03 -3.11912947e-03 9.99989545e-01 -2.39194743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04719347 meters Centerline goodness [0,1] 0.8913758219524532 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.62, Z:-2.39 [[ 9.99990433e-01 -2.76589689e-03 -3.38866740e-03 8.28278590e+00] [ 2.78056363e-03 9.99986755e-01 4.33113486e-03 -6.18035839e-01] [ 3.37664304e-03 -4.34051583e-03 9.99984879e-01 -2.39130205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07719347 meters Centerline goodness [0,1] 0.8915647432793719 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.62, Z:-2.39 [[ 9.99991757e-01 -2.16243094e-03 -3.43661774e-03 8.28269777e+00] [ 2.18118419e-03 9.99982701e-01 5.46254353e-03 -6.21828465e-01] [ 3.42474592e-03 -5.46999439e-03 9.99979175e-01 -2.39096135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10719347 meters Centerline goodness [0,1] 0.8923899870450082 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.63, Z:-2.39 [[ 9.99987155e-01 -3.14492872e-03 -3.97487846e-03 8.28451252e+00] [ 3.16315784e-03 9.99984472e-01 4.58814493e-03 -6.25401461e-01] [ 3.96038735e-03 -4.60065916e-03 9.99981574e-01 -2.39195430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13719347 meters Centerline goodness [0,1] 0.8922466294258473 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.63, Z:-2.39 [[ 9.99976957e-01 -5.72998888e-03 -3.64056036e-03 8.28426814e+00] [ 5.74007681e-03 9.99979699e-01 2.76660422e-03 -6.30157852e-01] [ 3.62463384e-03 -2.78743756e-03 9.99989546e-01 -2.39232734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16719347 meters Centerline goodness [0,1] 0.8956025582075826 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.63, Z:-2.39 [[ 9.99975717e-01 -5.77764072e-03 -3.89662478e-03 8.28513613e+00] [ 5.79099506e-03 9.99977368e-01 3.42462501e-03 -6.32449566e-01] [ 3.87675034e-03 -3.44710718e-03 9.99986544e-01 -2.39282307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19719347 meters Centerline goodness [0,1] 0.8930710904444724 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.64, Z:-2.39 [[ 9.99975973e-01 -5.65687627e-03 -4.00663979e-03 8.28550242e+00] [ 5.67508380e-03 9.99973556e-01 4.54764108e-03 -6.35922708e-01] [ 3.98080839e-03 -4.57026983e-03 9.99981633e-01 -2.39290658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22719347 meters Centerline goodness [0,1] 0.8929788397627361 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.64, Z:-2.39 [[ 9.99921894e-01 -1.17095482e-02 -4.36952924e-03 8.28729296e+00] [ 1.17089077e-02 9.99931434e-01 -1.72126096e-04 -6.43321984e-01] [ 4.37124516e-03 1.20950237e-04 9.99990439e-01 -2.39401152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25719347 meters Centerline goodness [0,1] 0.8952849839045636 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.65, Z:-2.39 [[ 9.99869302e-01 -1.55134823e-02 -4.55093825e-03 8.28795071e+00] [ 1.54989533e-02 9.99874729e-01 -3.21061133e-03 -6.46702171e-01] [ 4.60017591e-03 3.13965693e-03 9.99984490e-01 -2.39425986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28719347 meters Centerline goodness [0,1] 0.8926991846060327 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.65, Z:-2.39 [[ 9.99800752e-01 -1.94042374e-02 -4.68313789e-03 8.28850424e+00] [ 1.93743940e-02 9.99792223e-01 -6.33591127e-03 -6.49632530e-01] [ 4.80510837e-03 6.24391590e-03 9.99968962e-01 -2.39443102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31719347 meters Centerline goodness [0,1] 0.8843816373309781 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.65, Z:-2.39 [[ 9.99608784e-01 -2.75626720e-02 -4.75155667e-03 8.28944240e+00] [ 2.74975139e-02 9.99533756e-01 -1.32724237e-02 -6.53119906e-01] [ 5.11516474e-03 1.31365753e-02 9.99900628e-01 -2.39490774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34719347 meters Centerline goodness [0,1] 0.8728799292959051 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.66, Z:-2.39 [[ 9.99593642e-01 -2.80962082e-02 -4.81178028e-03 8.28968999e+00] [ 2.80325373e-02 9.99524740e-01 -1.28246019e-02 -6.55330013e-01] [ 5.16981612e-03 1.26845041e-02 9.99906184e-01 -2.39484194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37719347 meters Centerline goodness [0,1] 0.8716262903327121 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.66, Z:-2.39 [[ 9.99582291e-01 -2.84654054e-02 -4.99638315e-03 8.28994462e+00] [ 2.84013155e-02 9.99518930e-01 -1.24609033e-02 -6.57000271e-01] [ 5.34868420e-03 1.23137944e-02 9.99909877e-01 -2.39455431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40719347 meters Centerline goodness [0,1] 0.8670495907761577 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.66, Z:-2.39 [[ 9.99573185e-01 -2.87600492e-02 -5.12915670e-03 8.29014750e+00] [ 2.86952156e-02 9.99512589e-01 -1.22950450e-02 -6.57997433e-01] [ 5.48026280e-03 1.21426151e-02 9.99911258e-01 -2.39436603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43719346999998 meters Centerline goodness [0,1] 0.857907949790795 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.66, Z:-2.39 [[ 9.99561775e-01 -2.91013123e-02 -5.41948338e-03 8.29077257e+00] [ 2.90322483e-02 9.99501389e-01 -1.24137953e-02 -6.58323030e-01] [ 5.77803890e-03 1.22510155e-02 9.99908259e-01 -2.39434955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46719346999998 meters Centerline goodness [0,1] 0.8445518858051824 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.66, Z:-2.39 [[ 9.99532834e-01 -3.00139434e-02 -5.76864429e-03 8.29149460e+00] [ 2.99343029e-02 9.99461655e-01 -1.34289815e-02 -6.56198080e-01] [ 6.16859546e-03 1.32500276e-02 9.99893187e-01 -2.39422973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49719346999998 meters Centerline goodness [0,1] 0.8447129656729523 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.66, Z:-2.39 [[ 9.99615725e-01 -2.70312521e-02 -6.14123236e-03 8.29217431e+00] [ 2.69680923e-02 9.99584819e-01 -1.01445559e-02 -6.55227071e-01] [ 6.41290268e-03 9.97504031e-03 9.99929684e-01 -2.39427011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52719347 meters Centerline goodness [0,1] 0.8420000420884278 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.65, Z:-2.39 [[ 9.99695376e-01 -2.38385749e-02 -6.39352415e-03 8.29251161e+00] [ 2.37938016e-02 9.99692451e-01 -6.98987519e-03 -6.53282698e-01] [ 6.55818649e-03 6.83561966e-03 9.99955131e-01 -2.39416171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55719347 meters Centerline goodness [0,1] 0.8368618999323867 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.65, Z:-2.39 [[ 9.99764322e-01 -2.06274176e-02 -6.76824215e-03 8.29299913e+00] [ 2.06003074e-02 9.99779584e-01 -4.05106313e-03 -6.50767270e-01] [ 6.85031329e-03 3.91068052e-03 9.99968889e-01 -2.39398044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58719347 meters Centerline goodness [0,1] 0.8365694438632465 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.64, Z:-2.40 [[ 9.99839386e-01 -1.78156846e-02 -1.95002311e-03 8.30655295e+00] [ 1.77945898e-02 9.99788117e-01 -1.03476040e-02 -6.42524228e-01] [ 2.13395958e-03 1.03112421e-02 9.99944561e-01 -2.39747833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61719347 meters Centerline goodness [0,1] 0.8370350097892676 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.64, Z:-2.40 [[ 9.99890207e-01 -1.46452838e-02 -2.25622475e-03 8.30684303e+00] [ 1.46282213e-02 9.99865604e-01 -7.40190628e-03 -6.40156964e-01] [ 2.36432455e-03 7.36808905e-03 9.99970060e-01 -2.39708958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64719347 meters Centerline goodness [0,1] 0.8577704904248387 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.64, Z:-2.40 [[ 9.99930898e-01 -1.14915580e-02 -2.47862550e-03 8.30701515e+00] [ 1.14803536e-02 9.99924026e-01 -4.48824186e-03 -6.37313235e-01] [ 2.53001408e-03 4.45947621e-03 9.99986856e-01 -2.39666826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67719347 meters Centerline goodness [0,1] 0.8313306163606571 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.63, Z:-2.40 [[ 9.99960262e-01 -8.45835813e-03 -2.81624889e-03 8.30726864e+00] [ 8.45371656e-03 9.99962896e-01 -1.65598460e-03 -6.34453735e-01] [ 2.83015130e-03 1.63211103e-03 9.99994663e-01 -2.39607290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70719347 meters Centerline goodness [0,1] 0.8250855043702234 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.63, Z:-2.39 [[ 9.99975526e-01 -6.27276509e-03 -3.09845794e-03 8.30604972e+00] [ 6.27099098e-03 9.99980168e-01 -5.81961498e-04 -6.25960459e-01] [ 3.10204699e-03 5.62516853e-04 9.99995030e-01 -2.39376854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73719347 meters Centerline goodness [0,1] 0.8282991540899645 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.62, Z:-2.39 [[ 9.99986732e-01 -3.72550645e-03 -3.55755671e-03 8.30730047e+00] [ 3.73073884e-03 9.99991967e-01 1.46528097e-03 -6.22270089e-01] [ 3.55206922e-03 -1.47853384e-03 9.99992598e-01 -2.39411608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76719347 meters Centerline goodness [0,1] 0.8629938154739366 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.62, Z:-2.39 [[ 9.99990593e-01 -2.78064238e-03 -3.32900292e-03 8.30579109e+00] [ 2.78538557e-03 9.99995111e-01 1.42102062e-03 -6.17569416e-01] [ 3.32503529e-03 -1.43027981e-03 9.99993449e-01 -2.39264709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79719347 meters Centerline goodness [0,1] 0.8749920840985371 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.61, Z:-2.39 [[ 9.99994164e-01 4.16158148e-04 -3.39092255e-03 8.30546556e+00] [-4.03241710e-04 9.99992665e-01 3.80891603e-03 -6.13576932e-01] [ 3.39248279e-03 -3.80752645e-03 9.99986997e-01 -2.39196262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82719347 meters Centerline goodness [0,1] 0.8865228826933194 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.60, Z:-2.39 [[ 9.99973729e-01 6.46004183e-03 -3.28783307e-03 8.30372871e+00] [-6.43457423e-03 9.99949663e-01 7.69852532e-03 -6.02883127e-01] [ 3.33740037e-03 -7.67716726e-03 9.99964961e-01 -2.38947983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85719347 meters Centerline goodness [0,1] 0.8876852066516323 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.60, Z:-2.39 [[ 9.99945153e-01 9.91232564e-03 -3.38184679e-03 8.30372557e+00] [-9.87737701e-03 9.99899204e-01 1.01989427e-02 -5.98367242e-01] [ 3.48260115e-03 -1.01649796e-02 9.99942271e-01 -2.38907588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88719347 meters Centerline goodness [0,1] 0.892243469460901 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.59, Z:-2.39 [[ 9.99904290e-01 1.33837313e-02 -3.50514555e-03 8.30400322e+00] [-1.33381508e-02 9.99830140e-01 1.27194991e-02 -5.94082752e-01] [ 3.67478453e-03 -1.26715296e-02 9.99912960e-01 -2.38892352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91719347 meters Centerline goodness [0,1] 0.8925911076410138 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.59, Z:-2.39 [[ 9.99794103e-01 1.99627356e-02 -3.63891738e-03 8.30464220e+00] [-1.98956946e-02 9.99646925e-01 1.76121285e-02 -5.86246800e-01] [ 3.98921883e-03 -1.75361034e-02 9.99838273e-01 -2.38899160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94719347 meters Centerline goodness [0,1] 0.8925911076410138 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.59, Z:-2.39 [[ 9.99794103e-01 1.99627356e-02 -3.63891738e-03 8.30464220e+00] [-1.98956946e-02 9.99646925e-01 1.76121285e-02 -5.86246800e-01] [ 3.98921883e-03 -1.75361034e-02 9.99838273e-01 -2.38899160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97719347 meters Centerline goodness [0,1] 0.8932053144673952 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.58, Z:-2.39 [[ 9.99786602e-01 2.03172418e-02 -3.73622556e-03 8.30510530e+00] [-2.02528997e-02 9.99658392e-01 1.65202614e-02 -5.81321981e-01] [ 4.07059538e-03 -1.64410666e-02 9.99856551e-01 -2.38938859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00719347 meters Centerline goodness [0,1] 0.8960766633814926 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.58, Z:-2.39 [[ 9.99774565e-01 2.08432147e-02 -4.04712115e-03 8.30590614e+00] [-2.07777942e-02 9.99662644e-01 1.55846584e-02 -5.76806522e-01] [ 4.37059021e-03 -1.54970548e-02 9.99870361e-01 -2.38977588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03719347 meters Centerline goodness [0,1] 0.8906200851385073 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99763662e-01 2.13044650e-02 -4.32899854e-03 8.30677522e+00] [-2.12385473e-02 9.99665749e-01 1.47415618e-02 -5.73025383e-01] [ 4.64161266e-03 -1.46461361e-02 9.99881966e-01 -2.39030943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06719347 meters Centerline goodness [0,1] 0.8938208961482818 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99755147e-01 2.16392028e-02 -4.62499707e-03 8.30789871e+00] [-2.15725615e-02 9.99669211e-01 1.40033430e-02 -5.69891364e-01] [ 4.92648835e-03 -1.39001412e-02 9.99891252e-01 -2.39113789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09719347 meters Centerline goodness [0,1] 0.8886575388562896 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99729469e-01 2.27185008e-02 -4.98592288e-03 8.30867811e+00] [-2.26481562e-02 9.99649094e-01 1.37386005e-02 -5.66756180e-01] [ 5.29629369e-03 -1.36219618e-02 9.99893190e-01 -2.39126899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12719347 meters Centerline goodness [0,1] 0.8871960214102078 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99798928e-01 1.93830671e-02 -5.13803372e-03 8.30856972e+00] [-1.93330800e-02 9.99766949e-01 9.60625771e-03 -5.65034908e-01] [ 5.32303504e-03 -9.50499215e-03 9.99940658e-01 -2.39090308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15719347 meters Centerline goodness [0,1] 0.8871331828442438 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99863079e-01 1.56976096e-02 -5.23534671e-03 8.30818160e+00] [-1.56657421e-02 9.99858839e-01 6.07343414e-03 -5.66426420e-01] [ 5.32994608e-03 -5.99058697e-03 9.99967852e-01 -2.39016423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18719346999998 meters Centerline goodness [0,1] 0.8904265163624128 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99914327e-01 1.18855903e-02 -5.48379575e-03 8.30864823e+00] [-1.18742132e-02 9.99927288e-01 2.10260492e-03 -5.66389229e-01] [ 5.50838771e-03 -2.03730902e-03 9.99982753e-01 -2.39031967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21719346999998 meters Centerline goodness [0,1] 0.8904762905225119 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99952471e-01 8.03665191e-03 -5.51972936e-03 8.30905835e+00] [-8.04546325e-03 9.99966393e-01 -1.57599009e-03 -5.67393184e-01] [ 5.50687818e-03 1.62032397e-03 9.99983524e-01 -2.39083883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24719346999998 meters Centerline goodness [0,1] 0.8882627324342008 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99974817e-01 4.26663213e-03 -5.67104345e-03 8.30949832e+00] [-4.29436443e-03 9.99978838e-01 -4.88700995e-03 -5.69379199e-01] [ 5.65007236e-03 4.91124041e-03 9.99971978e-01 -2.39114577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27719347 meters Centerline goodness [0,1] 0.8916236434516911 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.57, Z:-2.39 [[ 9.99977740e-01 -3.43796270e-03 -5.71834823e-03 8.30982805e+00] [ 3.37340993e-03 9.99930910e-01 -1.12603021e-02 -5.74485870e-01] [ 5.75666565e-03 1.12407612e-02 9.99920250e-01 -2.39131167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30719347 meters Centerline goodness [0,1] 0.8901749947290745 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.58, Z:-2.39 [[ 9.99957355e-01 -7.25336996e-03 -5.71634441e-03 8.30965360e+00] [ 7.17080477e-03 9.99871547e-01 -1.43342087e-02 -5.77334218e-01] [ 5.81958144e-03 1.42926066e-02 9.99880920e-01 -2.39099323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33719347 meters Centerline goodness [0,1] 0.8893823762458818 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.58, Z:-2.39 [[ 9.99936247e-01 -1.12745196e-02 -6.21847744e-04 8.31753602e+00] [ 1.12694232e-02 9.99907106e-01 -7.66676832e-03 -5.81784204e-01] [ 7.08229108e-04 7.65927168e-03 9.99970417e-01 -2.39209900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36719347 meters Centerline goodness [0,1] 0.8904052068024354 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.59, Z:-2.39 [[ 9.99929032e-01 -1.19021624e-02 -5.19108233e-04 8.31709574e+00] [ 1.18982777e-02 9.99905160e-01 -6.93558451e-03 -5.85177746e-01] [ 6.01607454e-04 6.92891581e-03 9.99975814e-01 -2.39144497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39719347 meters Centerline goodness [0,1] 0.8840573633009057 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.59, Z:-2.39 [[ 9.99863350e-01 -1.65244930e-02 -4.70916471e-04 8.31719863e+00] [ 1.65188716e-02 9.99812147e-01 -1.01389106e-02 -5.88544999e-01] [ 6.38368365e-04 1.01297461e-02 9.99948489e-01 -2.39114928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42719347 meters Centerline goodness [0,1] 0.8792397353775071 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.59, Z:-2.39 [[ 9.99852575e-01 -1.71585186e-02 -6.42968009e-04 8.31781905e+00] [ 1.71515562e-02 9.99806769e-01 -9.60457231e-03 -5.91513011e-01] [ 8.07644001e-04 9.59212846e-03 9.99953668e-01 -2.39142034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45719347 meters Centerline goodness [0,1] 0.8698847960236726 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.59, Z:-2.39 [[ 9.99843114e-01 -1.76990541e-02 -7.00632331e-04 8.31830141e+00] [ 1.76919536e-02 9.99802102e-01 -9.09676040e-03 -5.94253854e-01] [ 8.61497732e-04 9.08293769e-03 9.99958378e-01 -2.39181448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48719347 meters Centerline goodness [0,1] 0.852671981104222 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.60, Z:-2.39 [[ 9.99817515e-01 -1.91023591e-02 -1.92320059e-04 8.31764415e+00] [ 1.90997311e-02 9.99773977e-01 -9.33781987e-03 -5.95083294e-01] [ 3.70650978e-04 9.33244259e-03 9.99956383e-01 -2.39158316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51719347 meters Centerline goodness [0,1] 0.8388289935481159 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.60, Z:-2.39 [[ 9.99869747e-01 -1.61389589e-02 -1.52888985e-04 8.31745543e+00] [ 1.61379085e-02 9.99855425e-01 -5.35700777e-03 -5.96158166e-01] [ 2.39323409e-04 5.35384269e-03 9.99985639e-01 -2.39125514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54719347 meters Centerline goodness [0,1] 0.835989068740803 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.60, Z:-2.39 [[ 9.99913120e-01 -1.31804093e-02 -1.71860923e-04 8.31752656e+00] [ 1.31801215e-02 9.99911890e-01 -1.58017967e-03 -5.96976910e-01] [ 1.92673195e-04 1.57777723e-03 9.99998737e-01 -2.39121569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57719347 meters Centerline goodness [0,1] 0.8079788461942037 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.60, Z:-2.39 [[ 9.99909382e-01 -1.34561593e-02 -4.00281902e-04 8.31824280e+00] [ 1.34552759e-02 9.99907198e-01 -2.13331401e-03 -5.95698085e-01] [ 4.28950968e-04 2.12773479e-03 9.99997644e-01 -2.39158296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60719347 meters Centerline goodness [0,1] 0.8365447523373362 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.59, Z:-2.39 [[ 9.99944102e-01 -1.05698051e-02 -2.69329198e-04 8.31835082e+00] [ 1.05698988e-02 9.99944076e-01 3.48632420e-04 -5.92700932e-01] [ 2.65629159e-04 -3.51459715e-04 9.99999903e-01 -2.39199816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63719347 meters Centerline goodness [0,1] 0.8356912437538215 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.59, Z:-2.39 [[ 9.99971930e-01 -7.48715420e-03 -2.86111881e-04 8.31852088e+00] [ 7.48803446e-03 9.99966811e-01 3.21048607e-03 -5.90183232e-01] [ 2.62064981e-04 -3.21253836e-03 9.99994805e-01 -2.39218325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66719347 meters Centerline goodness [0,1] 0.8435758905959818 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.59, Z:-2.39 [[ 9.99989550e-01 -4.56010506e-03 -3.24538740e-04 8.31860173e+00] [ 4.56187546e-03 9.99973456e-01 5.68122486e-03 -5.86564412e-01] [ 2.98623143e-04 -5.68264600e-03 9.99983809e-01 -2.39216783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69719347 meters Centerline goodness [0,1] 0.831554299215256 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.58, Z:-2.39 [[ 9.99994736e-01 -3.23528304e-03 -2.48121248e-04 8.31868986e+00] [ 3.23660122e-03 9.99979581e-01 5.51020504e-03 -5.76505772e-01] [ 2.30289109e-04 -5.51097910e-03 9.99984788e-01 -2.39234092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72719347 meters Centerline goodness [0,1] 0.8239460089985002 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.57, Z:-2.40 [[ 9.99992193e-01 -1.24660481e-03 3.74958243e-03 8.33261419e+00] [ 1.24956584e-03 9.99998909e-01 -7.87455484e-04 -5.71241153e-01] [-3.74859670e-03 7.92134687e-04 9.99992660e-01 -2.39661682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75719347 meters Centerline goodness [0,1] 0.8190578383723621 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.57, Z:-2.40 [[ 9.99990869e-01 -2.08723581e-03 3.72902874e-03 8.33274085e+00] [ 2.09715620e-03 9.99994267e-01 -2.65838858e-03 -5.66146102e-01] [-3.72345868e-03 2.66618466e-03 9.99989514e-01 -2.39670802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78719347 meters Centerline goodness [0,1] 0.8155806532874297 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.56, Z:-2.40 [[ 9.99994264e-01 -1.18474330e-03 3.17301201e-03 8.33504418e+00] [ 1.19063249e-03 9.99997571e-01 -1.85477882e-03 -5.62709664e-01] [-3.17080687e-03 1.85854608e-03 9.99993246e-01 -2.39825912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81719347 meters Centerline goodness [0,1] 0.7757388693924148 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.55, Z:-2.40 [[ 9.99987442e-01 -3.61721543e-03 3.46876167e-03 8.33506336e+00] [ 3.63678606e-03 9.99977412e-01 -5.65235228e-03 -5.54665734e-01] [-3.44823754e-03 5.66489644e-03 9.99978009e-01 -2.39885347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84719347 meters Centerline goodness [0,1] 0.7754537195495552 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.55, Z:-2.40 [[ 9.99992690e-01 -1.57162103e-03 3.48570409e-03 8.33568001e+00] [ 1.58341859e-03 9.99993019e-01 -3.38438315e-03 -5.51866303e-01] [-3.48036079e-03 3.38987774e-03 9.99988198e-01 -2.39960688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87719347 meters Centerline goodness [0,1] 0.7414164661575479 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.55, Z:-2.40 [[ 9.99989551e-01 -2.93447417e-03 3.50513613e-03 8.33632629e+00] [ 2.95401066e-03 9.99980060e-01 -5.58156300e-03 -5.45848524e-01] [-3.48868728e-03 5.59185889e-03 9.99978280e-01 -2.40035849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90719347 meters Centerline goodness [0,1] 0.7629812417658253 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.54, Z:-2.40 [[ 9.99993527e-01 -1.04487329e-03 3.44292317e-03 8.33700167e+00] [ 1.05777285e-03 9.99992421e-01 -3.74700027e-03 -5.41242016e-01] [-3.43898193e-03 3.75061785e-03 9.99987053e-01 -2.40099018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93719346999998 meters Centerline goodness [0,1] 0.73749895301114 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.54, Z:-2.40 [[ 9.99994573e-01 5.73878029e-04 3.24417460e-03 8.33781793e+00] [-5.66943776e-04 9.99997554e-01 -2.13796326e-03 -5.37015565e-01] [-3.24539360e-03 2.13611239e-03 9.99992452e-01 -2.40146846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96719346999998 meters Centerline goodness [0,1] 0.7281508449251879 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.53, Z:-2.40 [[ 9.99992451e-01 -1.62231961e-04 3.88212176e-03 8.33613081e+00] [ 1.77544891e-04 9.99992205e-01 -3.94445480e-03 -5.26467831e-01] [-3.88145158e-03 3.94511427e-03 9.99984685e-01 -2.40046627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99719346999998 meters Centerline goodness [0,1] 0.7403125263246567 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.52, Z:-2.40 [[ 9.99990219e-01 1.75830930e-03 4.05834711e-03 8.33554991e+00] [-1.74705662e-03 9.99994625e-01 -2.77460753e-03 -5.20880957e-01] [-4.06320391e-03 2.76749023e-03 9.99987916e-01 -2.40001392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02719347 meters Centerline goodness [0,1] 0.7475928183996973 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.51, Z:-2.40 [[ 9.99983691e-01 4.07531105e-03 4.00118886e-03 8.33574404e+00] [-4.06948272e-03 9.99990648e-01 -1.46371190e-03 -5.14797091e-01] [-4.00711652e-03 1.44740526e-03 9.99990924e-01 -2.39993635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05719347 meters Centerline goodness [0,1] 0.7565308914851068 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.50, Z:-2.40 [[ 9.99956974e-01 8.44055981e-03 3.84794221e-03 8.33648373e+00] [-8.44254473e-03 9.99964236e-01 4.99888542e-04 -5.01178971e-01] [-3.84358525e-03 -5.32353458e-04 9.99992472e-01 -2.40006942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08719347 meters Centerline goodness [0,1] 0.7545837723919916 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.49, Z:-2.40 [[ 9.99933970e-01 1.08558384e-02 3.76921578e-03 8.33686441e+00] [-1.08611620e-02 9.99940043e-01 1.39480064e-03 -4.93620147e-01] [-3.75384805e-03 -1.43564661e-03 9.99991924e-01 -2.40014144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11719347 meters Centerline goodness [0,1] 0.7769408180106219 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.49, Z:-2.40 [[ 9.99904958e-01 1.32594833e-02 3.77639960e-03 8.33660537e+00] [-1.32673229e-02 9.99909866e-01 2.05849055e-03 -4.85316361e-01] [-3.74876470e-03 -2.10839762e-03 9.99990751e-01 -2.39953532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14719347 meters Centerline goodness [0,1] 0.7894592888701872 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.48, Z:-2.40 [[ 9.99870290e-01 1.56442325e-02 3.82892467e-03 8.33653099e+00] [-1.56551058e-02 9.99873456e-01 2.82647917e-03 -4.77265896e-01] [-3.78422205e-03 -2.88605477e-03 9.99988675e-01 -2.39917381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17719347 meters Centerline goodness [0,1] 0.7876348617666892 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.46, Z:-2.40 [[ 9.99848935e-01 1.68390451e-02 4.30748340e-03 8.33606214e+00] [-1.68348913e-02 9.99857784e-01 -9.98778333e-04 -4.60519987e-01] [-4.32368928e-03 9.26111438e-04 9.99990224e-01 -2.39729708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20719347 meters Centerline goodness [0,1] 0.7983310152990264 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.45, Z:-2.40 [[ 9.99869964e-01 1.56392369e-02 3.93298622e-03 8.33708260e+00] [-1.56240303e-02 9.99870456e-01 -3.86786211e-03 -4.53194734e-01] [-3.99296714e-03 3.80591006e-03 9.99984786e-01 -2.39761197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23719347 meters Centerline goodness [0,1] 0.7992833807566656 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.45, Z:-2.40 [[ 9.99891279e-01 1.43142032e-02 3.54030974e-03 8.33828908e+00] [-1.42901821e-02 9.99875310e-01 -6.71974076e-03 -4.45979013e-01] [-3.63605603e-03 6.66841852e-03 9.99971155e-01 -2.39814741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26719347 meters Centerline goodness [0,1] 0.7928745996966122 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.44, Z:-2.40 [[ 9.99905036e-01 1.33800790e-02 3.30023245e-03 8.33942514e+00] [-1.33503647e-02 9.99871563e-01 -8.86711070e-03 -4.38701629e-01] [-3.41845122e-03 8.82220934e-03 9.99955240e-01 -2.39885988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29719347 meters Centerline goodness [0,1] 0.7852320763843614 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.43, Z:-2.40 [[ 9.99885386e-01 1.48641188e-02 2.87636157e-03 8.34133468e+00] [-1.48399359e-02 9.99855816e-01 -8.25369715e-03 -4.31895209e-01] [-2.99863078e-03 8.21006614e-03 9.99961801e-01 -2.40011641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32719347 meters Centerline goodness [0,1] 0.7734723039421703 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.42, Z:-2.40 [[ 9.99877970e-01 1.54296349e-02 2.44377214e-03 8.34360783e+00] [-1.54071105e-02 9.99840958e-01 -8.98222681e-03 -4.18003050e-01] [-2.58197596e-03 8.94347924e-03 9.99956673e-01 -2.40144083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35719347 meters Centerline goodness [0,1] 0.7634047407782989 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.41, Z:-2.40 [[ 9.99894459e-01 1.43510909e-02 2.26215175e-03 8.34453046e+00] [-1.43247420e-02 9.99833963e-01 -1.12626762e-02 -4.11682619e-01] [-2.42340784e-03 1.12290828e-02 9.99934015e-01 -2.40205472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38719347 meters Centerline goodness [0,1] 0.7550518842162752 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.41, Z:-2.40 [[ 9.99910384e-01 1.32420214e-02 1.96815544e-03 8.34576473e+00] [-1.32143057e-02 9.99821759e-01 -1.34845108e-02 -4.05605342e-01] [-2.14636682e-03 1.34572946e-02 9.99907143e-01 -2.40275530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41719347 meters Centerline goodness [0,1] 0.7384495240507398 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.39, Z:-2.40 [[ 9.99911673e-01 1.30678248e-02 2.42446778e-03 8.34529639e+00] [-1.30298563e-02 9.99801602e-01 -1.50658631e-02 -3.93631150e-01] [-2.62086483e-03 1.50329419e-02 9.99883564e-01 -2.40277736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44719347 meters Centerline goodness [0,1] 0.7283639721312851 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.39, Z:-2.40 [[ 9.99928303e-01 1.17471583e-02 2.32218594e-03 8.34510350e+00] [-1.17044954e-02 9.99776547e-01 -1.76028668e-02 -3.86842269e-01] [-2.52845071e-03 1.75744247e-02 9.99842361e-01 -2.40196023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47719347 meters Centerline goodness [0,1] 0.7220623753019006 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.38, Z:-2.40 [[ 9.99907613e-01 1.32893821e-02 2.85617993e-03 8.34310848e+00] [-1.32397265e-02 9.99772002e-01 -1.67527328e-02 -3.80639781e-01] [-3.07816219e-03 1.67133700e-02 9.99855584e-01 -2.40030404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50719347 meters Centerline goodness [0,1] 0.7665019451161813 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.37, Z:-2.40 [[ 9.99891540e-01 1.43882025e-02 3.14461588e-03 8.34195045e+00] [-1.43337528e-02 9.99757776e-01 -1.67013025e-02 -3.66272924e-01] [-3.38415590e-03 1.66544170e-02 9.99855579e-01 -2.39911650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53719347 meters Centerline goodness [0,1] 0.7341591733215955 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.36, Z:-2.40 [[ 9.99852290e-01 1.69054529e-02 3.09899108e-03 8.34267140e+00] [-1.68563214e-02 9.99741646e-01 -1.52481085e-02 -3.60345308e-01] [-3.35596662e-03 1.51936186e-02 9.99878938e-01 -2.39946922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56719347 meters Centerline goodness [0,1] 0.7636504318367177 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.35, Z:-2.40 [[ 9.99800433e-01 1.97601858e-02 2.93742775e-03 8.34376862e+00] [-1.97178924e-02 9.99710477e-01 -1.37900995e-02 -3.53900052e-01] [-3.20907223e-03 1.37294276e-02 9.99900597e-01 -2.39999982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59719347 meters Centerline goodness [0,1] 0.7783215020792205 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.35, Z:-2.40 [[ 9.99728761e-01 2.31147052e-02 2.84851570e-03 8.34468746e+00] [-2.30780961e-02 9.99658285e-01 -1.22765972e-02 -3.46514072e-01] [-3.13131224e-03 1.22075290e-02 9.99920582e-01 -2.40037105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62719347 meters Centerline goodness [0,1] 0.8561415220293724 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.33, Z:-2.40 [[ 9.99351341e-01 3.59983597e-02 -1.00729079e-03 8.35261009e+00] [-3.60057893e-02 9.99313510e-01 -8.72310319e-03 -3.30477663e-01] [ 6.92581888e-04 8.75371317e-03 9.99961446e-01 -2.40102689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65719347 meters Centerline goodness [0,1] 0.9031885882106147 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.32, Z:-2.40 [[ 9.99047597e-01 4.36222121e-02 -1.00109629e-03 8.35359652e+00] [-4.36247249e-02 9.99044493e-01 -2.64291597e-03 -3.24229818e-01] [ 8.84849895e-04 2.68407140e-03 9.99996006e-01 -2.40125121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68719346999998 meters Centerline goodness [0,1] 0.9118266563783862 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.32, Z:-2.40 [[ 9.98682958e-01 5.12984997e-02 -9.01545083e-04 8.35435356e+00] [-5.12949109e-02 9.98676941e-01 3.63311630e-03 -3.18551891e-01] [ 1.08672570e-03 -3.58208666e-03 9.99992994e-01 -2.40125544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71719346999998 meters Centerline goodness [0,1] 0.9124851218442649 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.97980682e-01 6.35139049e-02 -7.36757470e-04 8.35661034e+00] [-6.34988210e-02 9.97895772e-01 1.31121434e-02 -3.09174524e-01] [ 1.56801059e-03 -1.30388825e-02 9.99913761e-01 -2.40207746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74719346999998 meters Centerline goodness [0,1] 0.9109229217449777 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.97715898e-01 6.75459471e-02 -7.29005180e-04 8.35736142e+00] [-6.75248369e-02 9.97581760e-01 1.64629344e-02 -3.06673957e-01] [ 1.83924677e-03 -1.63761054e-02 9.99864211e-01 -2.40238625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77719347 meters Centerline goodness [0,1] 0.9100720179729985 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.30, Z:-2.40 [[ 9.97698212e-01 6.78023959e-02 -1.05454692e-03 8.35833826e+00] [-6.77773524e-02 9.97575400e-01 1.57971839e-02 -3.04069081e-01] [ 2.12307698e-03 -1.56893477e-02 9.99874661e-01 -2.40273478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80719347 meters Centerline goodness [0,1] 0.9097920367854531 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.30, Z:-2.40 [[ 9.97694160e-01 6.78583719e-02 -1.26705420e-03 8.35907562e+00] [-6.78306079e-02 9.97575957e-01 1.55312346e-02 -3.03141095e-01] [ 2.31790709e-03 -1.54094770e-02 9.99878580e-01 -2.40319217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83719347 meters Centerline goodness [0,1] 0.9092338988738125 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.30, Z:-2.40 [[ 9.97951838e-01 6.39463330e-02 -1.73085836e-03 8.35959758e+00] [-6.39236536e-02 9.97894593e-01 1.09612240e-02 -3.01305839e-01] [ 2.42814428e-03 -1.08281309e-02 9.99938426e-01 -2.40322270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86719347 meters Centerline goodness [0,1] 0.9092338988738125 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.30, Z:-2.40 [[ 9.97951838e-01 6.39463330e-02 -1.73085836e-03 8.35959758e+00] [-6.39236536e-02 9.97894593e-01 1.09612240e-02 -3.01305839e-01] [ 2.42814428e-03 -1.08281309e-02 9.99938426e-01 -2.40322270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89719347 meters Centerline goodness [0,1] 0.9085516663173339 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.30, Z:-2.40 [[ 9.98209967e-01 5.97771761e-02 -1.88457438e-03 8.35927112e+00] [-5.97627593e-02 9.98188399e-01 6.95211526e-03 -3.01787462e-01] [ 2.29673810e-03 -6.82704338e-03 9.99974058e-01 -2.40298366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92719347 meters Centerline goodness [0,1] 0.9087306527241794 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.30, Z:-2.40 [[ 9.98429147e-01 5.59810747e-02 -2.31462410e-03 8.35954072e+00] [-5.59735374e-02 9.98427118e-01 3.20217298e-03 -3.02169277e-01] [ 2.49024455e-03 -3.06758514e-03 9.99992194e-01 -2.40274880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95719347 meters Centerline goodness [0,1] 0.9092459343675914 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.30, Z:-2.40 [[ 9.98649504e-01 5.18844192e-02 -2.67874793e-03 8.35953604e+00] [-5.18865857e-02 9.98652706e-01 -7.45633361e-04 -3.02748526e-01] [ 2.63645211e-03 8.83617470e-04 9.99996134e-01 -2.40237672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98719347 meters Centerline goodness [0,1] 0.9075982170622992 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99024947e-01 4.40253747e-02 -3.30487084e-03 8.36022828e+00] [-4.40501750e-02 9.98998483e-01 -7.84938551e-03 -3.05217698e-01] [ 2.95598881e-03 7.98731208e-03 9.99963732e-01 -2.40271407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01719347 meters Centerline goodness [0,1] 0.9061645538155605 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99188087e-01 4.01215659e-02 -3.66421226e-03 8.36075179e+00] [-4.01609907e-02 9.99128102e-01 -1.14074788e-02 -3.06647836e-01] [ 3.20333153e-03 1.15453753e-02 9.99928219e-01 -2.40296057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04719347 meters Centerline goodness [0,1] 0.9042622128388971 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99253419e-01 3.84901879e-02 -3.33329572e-03 8.35895061e+00] [-3.85286264e-02 9.99181071e-01 -1.23584761e-02 -3.08979122e-01] [ 2.85488592e-03 1.24776768e-02 9.99918075e-01 -2.40186927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07719347 meters Centerline goodness [0,1] 0.902391604298198 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99397432e-01 3.45114032e-02 -3.70616261e-03 8.35930057e+00] [-3.45673681e-02 9.99269758e-01 -1.62802947e-02 -3.09384147e-01] [ 3.14160040e-03 1.63985970e-02 9.99860598e-01 -2.40173104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10719347 meters Centerline goodness [0,1] 0.8954390514230746 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99411119e-01 3.41089432e-02 -3.74090510e-03 8.35903847e+00] [-3.41650053e-02 9.99286261e-01 -1.61158623e-02 -3.10915017e-01] [ 3.18854004e-03 1.62341800e-02 9.99863133e-01 -2.40146034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13719347 meters Centerline goodness [0,1] 0.8911765931730088 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99419064e-01 3.38614433e-02 -3.86474494e-03 8.35891583e+00] [-3.39191234e-02 9.99296687e-01 -1.59882548e-02 -3.12231627e-01] [ 3.32064143e-03 1.61100554e-02 9.99864711e-01 -2.40111484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16719347 meters Centerline goodness [0,1] 0.9007652793793899 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99414888e-01 3.39686803e-02 -4.00138037e-03 8.35930063e+00] [-3.40284973e-02 9.99293208e-01 -1.59733125e-02 -3.12062906e-01] [ 3.45595988e-03 1.61001273e-02 9.99864412e-01 -2.40125034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19719347 meters Centerline goodness [0,1] 0.901468161978155 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99374151e-01 3.50811795e-02 -4.54053277e-03 8.36168949e+00] [-3.51459235e-02 9.99268630e-01 -1.50654808e-02 -3.11739412e-01] [ 4.00869712e-03 1.52156333e-02 9.99876200e-01 -2.40289285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22719347 meters Centerline goodness [0,1] 0.9048157927825977 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.31, Z:-2.40 [[ 9.99340660e-01 3.59766363e-02 -4.89155489e-03 8.36337465e+00] [-3.60451356e-02 9.99241717e-01 -1.47220549e-02 -3.10106572e-01] [ 4.35819569e-03 1.48886648e-02 9.99879660e-01 -2.40396511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25719347 meters Centerline goodness [0,1] 0.9017991317415261 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.31, Z:-2.41 [[ 9.99092988e-01 4.22510242e-02 -5.29645685e-03 8.36638464e+00] [-4.23001130e-02 9.99059528e-01 -9.52675022e-03 -3.07395104e-01] [ 4.88896073e-03 9.74215007e-03 9.99940593e-01 -2.40594218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28719347 meters Centerline goodness [0,1] 0.9012069362227288 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.31, Z:-2.41 [[ 9.99040614e-01 4.34419200e-02 -5.53643199e-03 8.36751931e+00] [-4.34930913e-02 9.99008710e-01 -9.48411828e-03 -3.05518095e-01] [ 5.11893547e-03 9.71581589e-03 9.99939698e-01 -2.40641693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31719347 meters Centerline goodness [0,1] 0.9006750241080038 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.30, Z:-2.41 [[ 9.98985515e-01 4.46574232e-02 -5.80128932e-03 8.36881097e+00] [-4.47100758e-02 9.98956831e-01 -9.28762042e-03 -3.04313062e-01] [ 5.38047640e-03 9.53757435e-03 9.99940041e-01 -2.40715046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34719347 meters Centerline goodness [0,1] 0.8994950759472542 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.30, Z:-2.41 [[ 9.98888042e-01 4.67109975e-02 -6.38447087e-03 8.37144933e+00] [-4.67608463e-02 9.98874912e-01 -7.89521175e-03 -3.04201700e-01] [ 6.00849456e-03 8.18497587e-03 9.99948451e-01 -2.40874783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37719347 meters Centerline goodness [0,1] 0.9017471823019232 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.30, Z:-2.41 [[ 9.98623074e-01 5.20745157e-02 -6.34037027e-03 8.37163277e+00] [-5.20954014e-02 9.98637067e-01 -3.17462787e-03 -3.04095229e-01] [ 6.16641156e-03 3.50056078e-03 9.99974860e-01 -2.40823847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40719347 meters Centerline goodness [0,1] 0.9026513486931592 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.30, Z:-2.41 [[ 9.98581326e-01 5.28308018e-02 -6.65142732e-03 8.37222377e+00] [-5.28515438e-02 9.98597928e-01 -2.98214923e-03 -3.02987675e-01] [ 6.48455220e-03 3.32945673e-03 9.99973432e-01 -2.40795713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43719346999998 meters Centerline goodness [0,1] 0.9015566807549065 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.31, Z:-2.41 [[ 9.98477062e-01 5.47472888e-02 -6.80372251e-03 8.37316502e+00] [-5.47578545e-02 9.98498715e-01 -1.37634276e-03 -3.05078900e-01] [ 6.71815714e-03 1.74680392e-03 9.99975907e-01 -2.40847840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46719346999998 meters Centerline goodness [0,1] 0.9000857543243187 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.31, Z:-2.41 [[ 9.98631338e-01 5.17856471e-02 -7.32791316e-03 8.37397926e+00] [-5.18204812e-02 9.98645608e-01 -4.64626801e-03 -3.06174735e-01] [ 7.07737829e-03 5.01964483e-03 9.99962356e-01 -2.40858504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49719346999998 meters Centerline goodness [0,1] 0.8989682939104178 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.31, Z:-2.41 [[ 9.98789762e-01 4.86023360e-02 -7.53822081e-03 8.37422046e+00] [-4.86609927e-02 9.98784869e-01 -7.80336554e-03 -3.08163836e-01] [ 7.14979909e-03 8.16073892e-03 9.99941140e-01 -2.40881371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52719347 meters Centerline goodness [0,1] 0.8969904985140849 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.31, Z:-2.41 [[ 9.98907793e-01 4.60074609e-02 -8.15688686e-03 8.37585152e+00] [-4.60887735e-02 9.98886512e-01 -1.00777313e-02 -3.11091625e-01] [ 7.68415344e-03 1.04426652e-02 9.99915949e-01 -2.40978433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55719347 meters Centerline goodness [0,1] 0.8979831439473354 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.31, Z:-2.41 [[ 9.99050534e-01 4.27299508e-02 -8.49598848e-03 8.37616862e+00] [-4.28380610e-02 9.98997729e-01 -1.29783502e-02 -3.13824971e-01] [ 7.93290894e-03 1.33299794e-02 9.99879683e-01 -2.40981187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58719347 meters Centerline goodness [0,1] 0.8948368770625339 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.32, Z:-2.41 [[ 9.99352397e-01 3.54948641e-02 -5.90764515e-03 8.38273423e+00] [-3.55372595e-02 9.99342176e-01 -7.23312827e-03 -3.23174444e-01] [ 5.64702006e-03 7.43838560e-03 9.99956390e-01 -2.40958661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61719347 meters Centerline goodness [0,1] 0.8960597400972028 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.33, Z:-2.41 [[ 9.99462949e-01 3.22006318e-02 -6.07731685e-03 8.38281287e+00] [-3.22593163e-02 9.99431302e-01 -9.81881674e-03 -3.27121012e-01] [ 5.75768859e-03 1.00095936e-02 9.99933326e-01 -2.40961348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64719347 meters Centerline goodness [0,1] 0.8970832986602313 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.33, Z:-2.41 [[ 9.99563288e-01 2.88590783e-02 -6.35509015e-03 8.38310608e+00] [-2.89373415e-02 9.99501960e-01 -1.25881617e-02 -3.30420865e-01] [ 5.98864232e-03 1.27665637e-02 9.99900571e-01 -2.40957644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67719347 meters Centerline goodness [0,1] 0.8957453922347139 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.33, Z:-2.41 [[ 9.99558291e-01 2.90327260e-02 -6.35011918e-03 8.38313187e+00] [-2.91027315e-02 9.99513401e-01 -1.12246419e-02 -3.34762050e-01] [ 6.02114727e-03 1.14044897e-02 9.99916838e-01 -2.40980284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70719347 meters Centerline goodness [0,1] 0.8922958908653646 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.34, Z:-2.41 [[ 9.99715471e-01 2.38025143e-02 -1.55457872e-03 8.39484600e+00] [-2.38110127e-02 9.99700237e-01 -5.69835027e-03 -3.43597130e-01] [ 1.41847765e-03 5.73374502e-03 9.99982556e-01 -2.41376815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73719347 meters Centerline goodness [0,1] 0.8903571129882077 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.35, Z:-2.41 [[ 9.99782414e-01 2.07936432e-02 -1.65808694e-03 8.39562577e+00] [-2.08065544e-02 9.99749957e-01 -8.19209176e-03 -3.47937049e-01] [ 1.48732892e-03 8.22480835e-03 9.99965070e-01 -2.41466868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76719347 meters Centerline goodness [0,1] 0.8843423799582464 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.35, Z:-2.42 [[ 9.99827208e-01 1.84667194e-02 -2.12931817e-03 8.39758610e+00] [-1.84870108e-02 9.99779689e-01 -9.93998991e-03 -3.53079646e-01] [ 1.94529005e-03 9.97763709e-03 9.99948330e-01 -2.41621382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79719347 meters Centerline goodness [0,1] 0.8824429721569943 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.36, Z:-2.42 [[ 9.99821533e-01 1.88049577e-02 -1.81010955e-03 8.39715213e+00] [-1.88200713e-02 9.99784774e-01 -8.72992324e-03 -3.58120857e-01] [ 1.64555413e-03 8.76243162e-03 9.99960255e-01 -2.41646234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82719347 meters Centerline goodness [0,1] 0.8737082608422244 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.36, Z:-2.42 [[ 9.99812450e-01 1.92874964e-02 -1.74827542e-03 8.39711190e+00] [-1.93001689e-02 9.99785248e-01 -7.54731925e-03 -3.61399437e-01] [ 1.60233108e-03 7.57964576e-03 9.99969990e-01 -2.41653044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85719347 meters Centerline goodness [0,1] 0.8520226367637812 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.37, Z:-2.42 [[ 9.99787276e-01 2.05533796e-02 -1.72106749e-03 8.39679347e+00] [-2.05624136e-02 9.99773950e-01 -5.40706359e-03 -3.66319486e-01] [ 1.60954501e-03 5.44130268e-03 9.99983901e-01 -2.41591341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88719347 meters Centerline goodness [0,1] 0.8469746422294753 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.37, Z:-2.42 [[ 9.99773621e-01 2.12038282e-02 -1.76201043e-03 8.39750300e+00] [-2.12112134e-02 9.99765838e-01 -4.28405050e-03 -3.69217279e-01] [ 1.67075956e-03 4.32045506e-03 9.99989271e-01 -2.41662081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91719347 meters Centerline goodness [0,1] 0.8401738190286094 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.37, Z:-2.42 [[ 9.99786434e-01 2.05459989e-02 -2.22460171e-03 8.40072789e+00] [-2.05565163e-02 9.99777108e-01 -4.81291935e-03 -3.71633499e-01] [ 2.12521963e-03 4.85762153e-03 9.99985943e-01 -2.41932824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94719347 meters Centerline goodness [0,1] 0.8284163273828166 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:-2.42 [[ 9.99825955e-01 1.85488757e-02 -1.99972236e-03 8.40215022e+00] [-1.85606506e-02 9.99809493e-01 -6.03994459e-03 -3.77294997e-01] [ 1.88730721e-03 6.07600952e-03 9.99979760e-01 -2.42146220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97719347 meters Centerline goodness [0,1] 0.8207836669937165 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:-2.42 [[ 9.99818933e-01 1.89337716e-02 -1.90101060e-03 8.40238569e+00] [-1.89427560e-02 9.99808928e-01 -4.82494837e-03 -3.81166036e-01] [ 1.80929290e-03 4.86008511e-03 9.99986553e-01 -2.42191456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00719347 meters Centerline goodness [0,1] 0.8154200712340247 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.38, Z:-2.42 [[ 9.99870866e-01 1.59603446e-02 -1.87588845e-03 8.40267816e+00] [-1.59742402e-02 9.99843200e-01 -7.64190195e-03 -3.83084392e-01] [ 1.75362692e-03 7.67088101e-03 9.99969041e-01 -2.42223675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03719347 meters Centerline goodness [0,1] 0.8092319919685435 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.39, Z:-2.42 [[ 9.99863971e-01 1.63814916e-02 -1.91979222e-03 8.40337638e+00] [-1.63932839e-02 9.99845793e-01 -6.29679500e-03 -3.87189289e-01] [ 1.81634528e-03 6.32741016e-03 9.99978332e-01 -2.42288343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06719347 meters Centerline goodness [0,1] 0.8021620267957761 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.39, Z:-2.43 [[ 9.99875648e-01 1.55472587e-02 -2.64018786e-03 8.40792762e+00] [-1.55630120e-02 9.99860556e-01 -6.05484674e-03 -3.93630795e-01] [ 2.54568344e-03 6.09518308e-03 9.99978184e-01 -2.42643372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09719347 meters Centerline goodness [0,1] 0.7997076328704187 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.40, Z:-2.43 [[ 9.99868116e-01 1.60089531e-02 -2.73186662e-03 8.40946470e+00] [-1.60227985e-02 9.99858498e-01 -5.12381430e-03 -3.95774387e-01] [ 2.64945316e-03 5.16691071e-03 9.99983142e-01 -2.42789292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12719347 meters Centerline goodness [0,1] 0.7970189701897019 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.40, Z:-2.43 [[ 9.99861285e-01 1.64132441e-02 -2.83140337e-03 8.41054855e+00] [-1.64254430e-02 9.99855673e-01 -4.34036153e-03 -3.97600570e-01] [ 2.75975531e-03 4.38626651e-03 9.99986572e-01 -2.42866549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15719347 meters Centerline goodness [0,1] 0.7914201804069645 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.40, Z:-2.43 [[ 9.99856231e-01 1.67484822e-02 -2.64686182e-03 8.41081668e+00] [-1.67577575e-02 9.99853376e-01 -3.52179981e-03 -3.99990331e-01] [ 2.58748893e-03 3.56564896e-03 9.99990295e-01 -2.42903629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18719346999998 meters Centerline goodness [0,1] 0.7848231322471745 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.41, Z:-2.43 [[ 9.99890785e-01 1.45658623e-02 -2.50054975e-03 8.41200802e+00] [-1.45785838e-02 9.99880480e-01 -5.14697665e-03 -4.05279078e-01] [ 2.42528073e-03 5.18286900e-03 9.99983628e-01 -2.42982598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21719346999998 meters Centerline goodness [0,1] 0.7827236113441853 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.41, Z:-2.43 [[ 9.99917036e-01 1.25722694e-02 -2.80339684e-03 8.41423449e+00] [-1.25912485e-02 9.99897206e-01 -6.85841068e-03 -4.08161708e-01] [ 2.71688289e-03 6.89313995e-03 9.99972551e-01 -2.43144258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24719346999998 meters Centerline goodness [0,1] 0.77997331999333 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.41, Z:-2.43 [[ 9.99941346e-01 1.03555002e-02 -3.17294494e-03 8.41679140e+00] [-1.03823156e-02 9.99909509e-01 -8.55466386e-03 -4.11159090e-01] [ 3.08407000e-03 8.58710461e-03 9.99958374e-01 -2.43328353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27719347 meters Centerline goodness [0,1] 0.7764600441869189 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.41, Z:-2.44 [[ 9.99962461e-01 7.97058401e-03 -3.39796511e-03 8.41926821e+00] [-8.00496341e-03 9.99915661e-01 -1.02270423e-02 -4.14520540e-01] [ 3.31616303e-03 1.02538590e-02 9.99941929e-01 -2.43539613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30719347 meters Centerline goodness [0,1] 0.763743867153101 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.42, Z:-2.44 [[ 9.99989046e-01 2.92501767e-03 -3.65399299e-03 8.42330718e+00] [-2.97205324e-03 9.99911936e-01 -1.29339615e-02 -4.21027733e-01] [ 3.61583913e-03 1.29446796e-02 9.99909676e-01 -2.43869328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33719347 meters Centerline goodness [0,1] 0.750322688095932 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.43, Z:-2.44 [[ 9.99998669e-01 -9.60448486e-04 1.31912693e-03 8.43501558e+00] [ 9.68343275e-04 9.99981547e-01 -5.99731790e-03 -4.26240902e-01] [-1.31334248e-03 5.99858728e-03 9.99981146e-01 -2.44291998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36719347 meters Centerline goodness [0,1] 0.7373303591903104 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.43, Z:-2.44 [[ 9.99989843e-01 -4.39972318e-03 9.77925708e-04 8.43754724e+00] [ 4.40721941e-03 9.99959866e-01 -7.80023167e-03 -4.30583663e-01] [-9.43567600e-04 7.80446238e-03 9.99969100e-01 -2.44474037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9294.48 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%| | 0/6813 [00:00